RobotLocomotion/drake — pull request #160 by hongkai-dai (2014-06-05 05:11:55+00:00)
Title: Fix IK test

This commit is a fix to some functions used in IK
1. In CMakeList, rather than using add_mex to add libraries or executables, use add_library or add_executable instead. add_mex introduces the `liblast` problem discussed in https://github.com/RobotLocomotion/drake/issues/150. Now even without fixing the liblast problem, those C++ executable tests can run.
2. Fix some bugs in `RigidBodyConstraint.cpp` and `inverseKinBackend.cpp`. They were detected by compiling in debug mode. I can not believe those bugs survived so many tests.
3. Add more tests for IK in C++.
4. Fix some bugs for evaluating RigidBodyConstraint at a time outside of tspan. Add the test.
5. I put `add_test` in systems/plants/test/CMakeLists.txt for the C++ executable tests, but it seems unitTest does not crawl into pod-build/bin folder
6. The way I link to MATLAB libraries in systems/plants/testCMakeLists.txt, line 20 might not work on other systems. Should test it on a Mac or Windows 32bit machine before merging it in.
7. In URDFRigidBodyManipulator, add robotnum to each body.