RobotLocomotion/drake — pull request #106 by avalenzu (2014-04-30 02:49:52+00:00)
Title: Relative gaze direction constraint

Rehabilitates the `RelativeGazeDirConstraint` class, which constrains an axis on body A to point in a direction specified in the body reference frame of body B to within a specified angular threshold. Both MATLAB and mex versisions are implemented. `RelativeGazeDirConstraint` is included in `testKinCnst`.