RobotLocomotion/drake — pull request #562 by RussTedrake (2014-11-15 02:50:34+00:00)
Title: Reformulate lcp pos constraints

Leverage the generalized form of LCP input (linear mcp) allowed with pathlcp to reformulate the position constraints with 1/2 of the decision variables. In the first commit, i actually ran this update vs the old code to validate that it achieves the same answer and improves the speed (it does both); i've removed the extra class and a/b test again in the second commit.