support zero inputs in direct trajectory optimization. add limit cycle examples for rimless wheel (works well), and van der pol (doesn't work yet)
got van der pol example working
got van der pol example working
moved around lecture examples
add dependency checks
rename example
rename example
added comment
allow studentsnopt to be used in iktraj
remove redundant mosek check dep
Merge pull request #493 from RussTedrake/lecture12

Lecture12
Merge pull request #495 from hongkai-dai/add-studentsnopt-iktraj

allow studentsnopt to be used in iktraj
Fixes to example code plotting.
Merge pull request #499 from mposa/master

Fixes to DoubleIntegrator example code plotting.
same fix from double integrator, but for pendulum example
Add 'use_bullet' field to RBM contact_options prop

This lets us put the `checkDependency` call in the RBM constructor rather than
requiring it later.
If not using bullet, force terrain collision check

Resolves #501
Merge pull request #503 from avalenzu/akv-eigen-distro-collisions

Fix terrain collisions in eigen-distro
remove sizecheck from main quat methods
Merge pull request #506 from RussTedrake/quat

remove sizecheck from main quat methods