In this video I explain the anatomy of parent constraint and how you can create your own custom constraint using Maya utility nodes. I also wrote some python code to add a parent-target manually which resolves an issue with the way Maya adds parent constraint targets targets by default.
creaturerigs.com/parent-constraint-in-depth/
cr_constraintTool is available for download @ creaturerigs.com:
creaturerigs.com/constraint-tool/
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