update cmake to support unit tests on windows
check if policy exists to support old cmake versions on ubuntu
update cmake again
another attempt at cmake builds for all platforms
update cmake
update cmake
update cmake.  hopefully works for all this time.
Merge pull request #581 from RussTedrake/wintests

update cmake to support unit tests on windows
playing with adding masses to the end of an arm
WorldQuat function
ignore new fort.15 files
fix incorrect assumptions in swing planning

* no longer assume that the orientation of the sole matches the orientation of the foot
* no longer assume that the transform from foot to sole is the same in both feet
more frame fixes
Merge pull request #591 from rdeits/rd-fix-swing-frames

Fix frames in swing planning
Now NonlinearProgram handles the case that either cost or nonlinear constraint carries input argument with duplicate decision variables
Now NonlinearProgram can handle BoundingBoxConstraint with duplicate variables
Now NonlinearProgram accept empty linear constraint. Previously it would fail if we add an empty constraint, and then try to delete it
add the print file if student snopt is used
fix a bug in the previous way to set the print out file for snopt
throw an error if the xind argument in addCost/addNonlinearConstraint/addBoundingBoxConstraint contains duplicate entries