So the long version of my post was deleted (bloody school internet), so here's the abrided version.
First, the two amplifiers mentioned above do fulfill all of your conditions.
If you're looking for anything smaller, you might want to look into a basic CMOY, or try doing some SMD soldering with different components.
As far as sound quality goes, the Mini^3 performs well as you can see here:
http://www.head-fi.org/forum/thread/214588/review-portable-amp-roundup-56-portable-amps-reviewed-and-compared-final-update-12-20-10-added-rsa-sr-71b (search Mini3)
On the plus side, all of the projects mentioned above are really popular and you really, really want good documentation...documentation is gooood
Judging by your previous posts, I think it would be BEST if you read this article here which sums up some of the important considerations before considering DIY-work. If you can't justify it, then I would not suggest you to do it:
http://sound.westhost.com/why-diy.htm
If you're not sure, there are several commercial amps (highly portable) that you can consider that would be even cheaper than the parts needed (soldering iron, solder, power tools, hand tools, etc.) even without the project parts included.
Edited by Bop - 3/8/11 at 11:08am