RobotLocomotion/drake — pull request #418 by hongkai-dai (2014-09-24 01:47:05+00:00)
Title: Add ik joint limit

1. In `PostureConstraint`, the user can specify whether he wants the RigidBodyManipulator's joint limits as the default posture bounds.
2. In 'InverseKin', the user can call `setUseRBMJointBnd` in `IKoptions`, so as to tell the IK program whether to use the joint limits from the RigidBodyManipulator