RobotLocomotion/drake — pull request #46 by hongkai-dai (2014-03-03 21:48:01+00:00)
Title: IK posture truncation

In IK, the output posture from SNOPT can be outside of the posture bounds by the SNOPT numerical tolerance. Now if SNOPT finds the solution, IK checks the SNOPT output and truncates the solution within the posture bounds.