RobotLocomotion/drake — pull request #66 by mposa (2014-03-19 15:36:18+00:00)
Title: Change to RigidBodyManipulator contactConstraints.

Motivated by failure of original formulation when used with TaylorVars, changed contactConstraints so that

phi =

instead of

phi = sgn() * ||relpos||

As a note, phi(x0) = 0 resulted in strange behavior on the sqrt() step