mposa/drake — pull request #5 by hongkai-dai (2014-06-28 00:26:55+00:00)
Title: add slack name to CompositeConstraint

1. Add 'cost' and 'slack_name' to CompositeConstraint.
2. Add a test case for CompositeConstraint in testNLPWConstraint
3. Add 'x_name' field to NonlinearProgramWConstraintObjects