RobotLocomotion/drake — pull request #433 by hongkai-dai (2014-09-26 18:44:22+00:00)
Title: error in inverseKinBackend.m if snopt is not installed

1. inverseKinBackend will throw an error if SNOPT is not installed
2. change testIK a bit so that it can pass when the PostureConstraint ignores the joint limit from RigidBodyManipulator, instead of hitting the major iterations limit.