RobotLocomotion/drake — pull request #437 by anirudhamajumdar (2014-09-28 01:37:58+00:00)
Title: Changes to regionOfAttraction.m

I rewrote all the sos programs in regionOfAttraction.m to use spotsosprog instead of mssprog. mssprog isn't really supported any more (Mark left it in just for backwards compatibility). So, now regionOfAttraction.m can call mosek. As an additional benefit, we can now also use DSOS/SDSOS in regionOfAttraction.m since spotsosprog supports those constraints. We simply need to change prog = prog.withSOS(...) to prog = prog.withSDSOS(...) for whatever constraints we want.

I added a mosek case in checkDependency to allow us to check if mosek is installed.

I also loosened the tolerances on the checks for balanceQuadForm. I think they were too tight (I've run into issues with those before).