wing cleanup and perching with user gradients
Merge pull request #140 from andybarry/master

Adds collisionRaycast to cmakelists.
Add isSupportedTerrain method to BotVisualizer

This makes the constructor cleaner.
Fix call to static method isSupportedTerrain
Makefile fix to rm pod-build on clean.
fixing perching by changing the cost
Merge pull request #143 from avalenzu/BotVisualizer-isSupportedTerrain

Add isSupportedTerrain method to BotVisualizer
Merge pull request #145 from mposa/master-bugfix

Makefile fix to rm pod-build on clean.
switched joint_limits_min and _max to VectorXd
due to a difference between std::vector.resize() and VectorXd.resize(), i was trying to allocate an infinite length vector. :)
switched over pitch, parent, and dofnum
RBM double* to VectorXd
MatrixXd* and VectorXd* to std:vector<MatrixXd> and std:vector<VectorXd>
added EIGEN_MAKE_ALIGNED_OPERATOR_NEW
RigidBody* and RigidBodyFrame* to std::vector<RigidBody>, etc
comment out collisionDetect call.  fixes segfault for my simple test case
small mex cleanups
finally figured out a pretty good way to implement the 'warn once' feature that I've been longing for
collisionDetect should now do some things (most notably interaction between terrain contact points on the terrain), even without mex and/or bullet
warnOnce for velocity limits in urdf