RobotLocomotion/drake — pull request #137 by avalenzu (2014-05-29 10:46:28+00:00)
Title: Fix #133

This pull request also includes a change to `AllBodiesClosestDistanceConstraint` to allow for meaningful testing of the cpp constraint class, now that we no longer re-call `doKinematics` inside `collisionDetect`. Without that change, `testKinCnst` fails when testing `AllBodiesClosestDistanceConstraint` since the number of constraint values does not match between the MATLAB and mex versions.