RobotLocomotion/drake — pull request #283 by tkoolen (2014-08-11 03:00:37+00:00)
Title: Drake gradient util

Pull request for C++ gradient utilities. I put general purpose functions like {get,set}SubMatrixGradient, transposeGrad, etc. in drakeGradientUtil, and functions that compute gradients of geometrical things in drakeGeometryUtil.