RobotLocomotion/drake — pull request #547 by hongkai-dai (2014-11-10 15:08:31+00:00)
Title: NonlinearProgram iterates algorithms in fmincon

Solves #330. Now `NonlinearProgram` iterates algorithms in `fmincon` ('interior-point','sqp','active-set','trust-region-reflective') to search for a solution, if the user does not specify the algorithm.