Correct distance queries to report nearest point in world frame#288

Merged

SeanCurtis-TRI merged 1 commit intoflexible-collision-library:masterfrom SeanCurtis-TRI:my_pr_250

Aug 12, 2018

+177-82

Commits on Aug 10, 2018

Distance queries return nearest points in the world frame
SeanCurtis-TRI
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