Add scaling arg. to replaceContactShapesWithChull

This is an optional argument. If supplied, the convex hull will be
scaled up or down (about its centroid) accordingly.
Fix naming: replace `centroid` with `mean_of_pts`
Include all the commits I made back from Nov 16th.
This topic branch add the following features to drake
1. Add a new type of constraint, the SingleTimeLinearPostureConstraint. This constraint specifies lb<=A*q<=ub. Also inverseKin,inverseKinPointwise,inverseKinTraj support this constraint type, but not the approximateIK.
2. All IK functions now have a separate C++ interface, so they do not need to be called through MATLAB. Also they have the C++ test files, built in pod-build/bin
3. All constraints can be constructed from the same function, constructRigidBodyConstraint. Each non-abstract constraint has a unique constraint type.
4. I add constness to the methods in RigidBodyConstraint.
5. URDFRigidBodyManipulator now add joint limits and masses to its field. But URDFRigidBodyManipular and RigidBodyManipulator in MATLAB are not exactly the same for the same URDF file. The former one sort the link and joint names, so the link/joint index are different from the MATLAB counterpart.
6. Add findLinkInd method in C++ RigidBodyManipulator. But I am not handling the regular expressions, as does in the MATLAB counterpart.
7. Changed the definition of 'tol' in the WorldQuatConstraint. Previously it was sin(theta/2)^2, where theta is the allowable angle to rotate. This definition is quite unnatural. Now tol = theta.
remove gitattributes
remove a tex file for deriving floating base trajectory optimization
makefiles have to use add_mex to link properly with matlab libraries (on all platforms)
Merge pull request #28 from avalenzu/scale-chull-contact-shapes

Add scaling arg. to replaceContactShapesWithChull
1.Re-implement RelativePositionConstraint using quaternions in MATLAB
2.Change some quaternions functions for faster speed.
3.Start to write RelativePOsitionConstraint in C++
1. Implement C++ RelativePositionConstraint
2. Add a method evalNames to PositionConstraint, so now the logic is cleaner. The non-abstract class in PositionConstraint only needs to take care of all the position name, and do not need to worry which position is actually included in the final constraint
Now RelativePositionConstraint is fully supported in C++
moved enable_testing() up to make sure you can add_test in the subdirectories.
got drakeIK to compile again on linux.

NOTE:  I was having a problem initially with linker errors that looked like

../../../lib/libdrakeIK.so: undefined reference to `s_rsfi'
../../../lib/libdrakeIK.so: undefined reference to `i_len'
../../../lib/libdrakeIK.so: undefined reference to `e_wsfi'

but i realized that my PKG_CONFIG_PATH was pointing to the drc build directory (which is old on this virtual machine).
export PKG_CONFIG_PATH=
resolved that for me
1.Add joint limits for the 'FIXED' joint type.
2.Avoid querying the link mass when the link does not have 'inertia' property
Merge pull request #36 from hongkai-dai/URDFRigidBodyManipulatorError

URDFRigidBodyManipulator Error
Sanitize `state_dims` before use as loop variable

The overloaded `inspector` method in `RigidBodyWRLVisualizer` was
passing `state_dims` to the parent method as a row vector. The method in
`Visualizer` was then transposing that before using it as the loop
variable in a for loop. Since for loops loop column-wise, I've replaced
the transpose with a reshape to ensure that the variable passed to the
for loop is a row vector. Fixes #23.
Add class `RigidBodyVisualizer`.

Now both `BotVisualizer` and `RigidBodyWRLVisualizer` descend from this
class. It contains the nicely overloaded inspector method that respects
joint limits (this used to be in `RigidBodyWRLVisualizer`).
Makes cmake run from the drake main directory to fix an issue where it would fail if run from the wrong path.  Specifically fixes an issue with AVL configuration.
Fixed a small type error
use fullfile instead of /
Merge branch 'fix-inspector' of https://github.com/avalenzu/drake