RobotLocomotion/drake — pull request #343 by RussTedrake (2014-08-25 12:59:30+00:00)
Title: System constraints

not ready to be merged, but want to start the conversation (and the build servers).

the goal is to replace the stateConstraints and unilateralConstraints methods of the DrakeSystem classes with a list of constraint objects. i've implemented a lot of it, but am still working on the best solution for the loop constraints. comments welcome.