Updated PATH to use an up to date license string.  Needed for simulating Atlas.
Added a check to ensure that PATH license is up to date.
Merge branch 'drake-origin/master'
Added NCP stub.
Merge branch 'drake-origin/master'
Added a bunch of (raw) trajectory optimization methods.
Added documentation.
Edits, documentation, added input constraints.
Added storing of constraints and related indices.
Removed stub file.
Changes per comments from Hongkai.
Add NonlinearComplementarityConstraints, as a subclass of ConstraintManager. Added three formulation options.
Makefile fix to rm pod-build on clean.
Working commit on traj opt.
Working commit on traj opt.
Merge branch 'drake-origin/master'
Working commit on traj opt.
Merge branch 'drake-origin/master'

Conflicts:
	cmake
Working commit on traj opt.
Modified NonlinearProgramWConstraintObjects to accept multiple arguments.  Bug fixes to working implicit trajectory optimization, added joint limit forces.