mposa/drake — pull request #2 by avalenzu (2014-06-23 21:17:25+00:00)
Title: InverseKin and RigidBodyConstraint updates

This brings `InverseKin` , `InverseKinTraj`, and the classes descending from `RigidBodyConstraint` up to date with the new constraint class hierarchy. `testIK` and `testIKtraj` both pass (and run ~3x faster than before).