Added full Lyapunov parameterization to funnel computation code. Updated glider example files.
changed urdf file to match glider plant
made minor commenting updates to funnel code
corrected air density
aadded input to gradients
Bug fixes. Need to test with a more complex robot. Compile breaks with a second robot (addRobotFromURDF).
Add 'setBounds' method to Constraint, fix the input check in Constraint class
add the test for 'setBounds' in Constraint class
delete NonlinearProgramWConstraintObjects, move its content to NonlinearProgram
Add IPOPT support to NonlinearProgram
revise the NonlinearProgram, such that the objective and constraints only compute the gradient when they have to.
Remove 'addSlackVariables' in CompositeConstraint, this can cause confusion if we addSlackVariable and then add constraints, as the old constraints and the newly added constraints are for different set of variables.
move 'infeasible_constraint' to NonlinearProgram from InverseKinematics
Fixes for NonlinearProgram after run make test
Add fixed seed for collisionDetectGradTest.

Resolves #167.
Fix seed for RimlessWheel/testContactGradients.

Resolves #303
Merge branch 'drake-origin/master'
Changed doKinematics cache to look for exact matches instead of using a tolerance (was causing "nondeterminism" in simulation). Added tolerances to contactSensorTest, and used a fixed rng seed.
On Mac, set DYLD_FRAMEWORK_PATH in addition to DYLD_LIBRARY_PATH

This change updates the top level CMakeLists.txt to capture the
DYLD_FRAMEWORK_PATH environment variable, too.  I also changed the
doc strings for the cache variables and added calls to mark_as_advanced.
Merge pull request #325 from mposa/master

Removed tolerances for C++ kinematics cache