Apply all linear constraints when using SNOPT.
Apply all linear constraints when using SNOPT.

billhoffman/drake,sheim/drake,sheim/drake,billhoffman/drake,sheim/drake,sheim/drake,sheim/drake,billhoffman/drake,sheim/drake,sheim/drake,billhoffman/drake,billhoffman/drake,billhoffman/drake,billhoffman/drake,sheim/drake,billhoffman/drake