RobotLocomotion/drake — pull request #671 by rdeits (2014-12-31 21:46:56+00:00)
Title: Clean up and deduplicate Atlas

Currently, there is a lot of shared and overloaded code between DRC and Drake. This pull request should let us remove most of the duplicate code from DRC and also make the different versions of Atlas easier to track.

The problem right now is that swapping between, for example, the DRC Atlas.m and the drake Atlas.m is difficult to do correctly. Running a Drake Atlas example, then trying to construct a DRC Atlas throws errors because both versions have `AtlasState` frames and others, and Matlab cannot correctly resolve that ambiguity. Instead, all Drake Atlas frames are now in the +atlasFrames package, and likewise all controllers are in the +atlasControllers package. This should be transparent to our users, since those objects should only be referred by our own Atlas-specific methods and constructors.

A few other changes:
* BodyMotionControlBlock is extended slightly so that we no longer need a separate FootMotionControlBlock
* HaltSimulationBlock moved into Drake from DRC
* simulateWalking script moved into Drake from DRC, and replaces the duplicated code that was present in the Atlas walking example.