RobotLocomotion/drake — pull request #214 by hongkai-dai (2014-06-30 18:04:58+00:00)
Title: Change ik name

* InverseKin is renamed InverseKinematics, InverseKinTraj is renamed to InverseKinematicsTrajectory
* Remove NonlinearProgramWKinsol
* Move `x_name` field up to `NonlinearProgramWConstraintObjects`.