RobotLocomotion/drake — pull request #72 by hongkai-dai (2014-03-27 18:32:01+00:00)
Title: Relative quat constraint

* Add full support in both MATLAB and C++ for RelativeQuatConstraint.
* Fix a bug in inverseKinWrapup function for constructing constraint mex pointers. I will stop supporting inverseKinWrapup.m and wrapDeprecatedConstraint in the future.
* Fix drawConstraint functions which use deprecated lcmgl