RobotLocomotion/drake — pull request #249 by rdeits (2014-07-25 19:25:42+00:00)
Title: Add new MIQCQP footstep planner

This should update Drake with all of my latest changes to the footstep planner. The default for DRC is still the same, but I've added the new MIQCQP discussed in the paper, as well as the MISOCP yalmip prototype (which works, but is a bit slower).