Adds support for function definitions with ...'s in them.
Fixes the terrible tabbing situation that was in preprocess.pl.
Adds documentation to the main doxygen page, describing how to make doxygen, some useful commands, and adds a few links.
update submodules
Merge pull request #90 from andybarry/doxygen

Doxygen updates
Create a common parent class NonlinearProgramWKinsol class for InverseKin and InverseKinTraj. Should be easier to write code for dynamic planning
add a CoMMatchConstraint to be used in CoMPlanning
add a CoMPlanning object based on InverseKinTraj. Add the constraint on euler integration. Will need to work on the ContactWrenchConstraint. Also, comddot may not need to be a decision variable
add a test file for CoMPlanning
1.add ContactWrenchConstraint into CoMPlanning.
2.add CentroidalTorque in ContactWrenchConstraint to compute torque about the center of mass
Add a SimpleCentroidalTorqueConstraint to enforce the total torque at CoM being zero for the CoM model
Add the dynamic constraint to CoMPlanning. Pass the gradient test
CoMPlanning works for the first time. I need to do something more clever about the initial seed
start to work on a planning for CoM trajectory and contact force only
Add newton law into CoMPlanning. Need to add friction cone constraint later
Add the friction cone constraint to CoMPlanning. I must made some error somewhere in the code, now gurobi says it is infeasible
CoMPlanning with acceleration only works. Will add the angular momentum
Add the cost of CoM position deviation to CoMPlanning
add cost on CoM acceleration in CoMPlanning.
remove the 'repmat' function when constructing the name string to speed up the computation