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The current implementation calls SNOPT explicitly for solution. This needs to be updated when appropriate solvers become available.\n\n<!-- Reviewable:start -->\n---\nThis change is [<img src=\"https://reviewable.io/review_button.svg\" height=\"35\" align=\"absmiddle\" alt=\"Reviewable\"/>](https://reviewable.io/reviews/robotlocomotion/drake/2712)\n<!-- Reviewable:end -->\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/230539065","html_url":"https://github.com/RobotLocomotion/drake/pull/2712#issuecomment-230539065","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2712","id":230539065,"user":{"login":"jamiesnape","id":3630149,"avatar_url":"https://avatars.githubusercontent.com/u/3630149?v=3","gravatar_id":"","url":"https://api.github.com/users/jamiesnape","html_url":"https://github.com/jamiesnape","followers_url":"https://api.github.com/users/jamiesnape/followers","following_url":"https://api.github.com/users/jamiesnape/following{/other_user}","gists_url":"https://api.github.com/users/jamiesnape/gists{/gist_id}","starred_url":"https://api.github.com/users/jamiesnape/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jamiesnape/subscriptions","organizations_url":"https://api.github.com/users/jamiesnape/orgs","repos_url":"https://api.github.com/users/jamiesnape/repos","events_url":"https://api.github.com/users/jamiesnape/events{/privacy}","received_events_url":"https://api.github.com/users/jamiesnape/received_events","type":"User","site_admin":false},"created_at":"2016-07-05T17:03:48Z","updated_at":"2016-07-05T17:03:48Z","body":"@drake-jenkins-bot retest this please"}}
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