RobotLocomotion/drake — pull request #44 by kuindersma (2014-02-27 22:40:45+00:00)
Title: Add support for euler angles in forwardJacDot(mex)

Relevant drake unit tests pass. Added a case to testMex to make sure matlab/mex Jdot are consistent. Since we don't yet have dJ implemented for rotations, I didn't add a test case in testForwardJacDot (but I'm confident in the values coming out based on walking controller performance in my drc branch).