Copied @mposa 's jointOffsetCalibration over from DRC. Rewrote his test function; it now creates simulated measurement data and verifies that the offsets, marker positions, and floating states are close to their 'actual' values.
Fixed dumb mistake: didn't update Atlas urdf path after moving test file. Also disabled more warnings.
moved calibration files to robotInterfaces, fixed urdf reference in test
Changed RigidBodyManipulator.bodies from std::vector<RigidBody> to std::vector<std::unique_ptr<RigidBody>> in preparation for adding a std::unique_ptr<DrakeJoint> member to RigidBody.

Conflicts:
	systems/plants/constructModelmex.cpp
Now creating DrakeJoints in constructModelMex and storing std::unique_ptrs to them in RigidBody objects.

Conflicts:
	systems/plants/constructModelmex.cpp
Now setting DrakeJoint in URDFRigidBodyManipulator as well.

Conflicts:
	systems/plants/constructModelmex.cpp
Cleanup.
Add missing include.
Fixed compile errors on GCC (missing <memory> include and ambiguous call to isinf, see https://bugs.webkit.org/show_bug.cgi?id=59249 for info).
Added missing stdexcept include.
fixes to get drc to compile. Got past linearIKmex error
terrain maps now build and can be used within the controller
cleanup
fix the gradient computation in RigidBodyManipulator.findFixedPoint
Merge pull request #360 from tkoolen/jointOffsetCalibration

Joint offset calibration
Merge pull request #370 from tkoolen/drakeJointInRigidBodySecondTry

DrakeJoint in RigidBody redo
Merge pull request #378 from rdeits/rd-fix-maps

Fix terrain maps
When the solver solves the NLP successfully, always return 1
added another template for eigenToMatlab
Merge pull request #385 from hongkai-dai/fixGetInitialState

fix exitflag in NonlinearProgram