updated atlas model to latest
select minimal contact groups in forward simulate scripts
adding updated atlas convex hull model
adding default terrain option to atlas class
reduce display rate
add QP controller mex to controllers
updating shared data handle to have setter functions, adding support state class
adding balancing example for atlas (matlab OK, mex not quite working yet on my machine)
use mex=false by default for now
fixed cmake file for qp controller
notesting controllers, kick out with warning if trying to run atlas balancing example without gurobi
fixed atlas head mesh reference
fixing testIK, removing Atlas/testIK at Hongkai's request
fix remaining unit tests
update regression test data for new atlas model
adds gradients for RigidBodyThrust.  user gradients work for quadrotor now.
dircol example works now.  exits w/ 41, but the output looks good.  will have to look more carefully soon
resolved error 41.  forgot to uncomment my cost fun gradients.  ;)
addressed Benoit's comment, added a (very) little documentation
Merge pull request #173 from RussTedrake/thrustGradients

Thrust gradients and quadrotor dircol example