RobotLocomotion/drake — pull request #216 by tkoolen (2014-06-30 19:36:20+00:00)
Title: Floating base

Adds support for quaternion floating base parameterization and having dq/dt and v be different.

Not ready to merge. Still need to do mex implementation. I believe that at this point, all the tests that I can get to pass without mex do pass.

Comments very welcome.