In IK, Truncate the posture from SNOPT to the range within the posture limit if SNOPT can find the solution. This eliminates the SNOPT numerical tolerance on the posture decision variables.
Add cell array of strings utilities.

Two new utilities are provided:

`cellStrCat` - Creates a new cell array of strings from a list of cell arrays
of strings by concatenating each cell of input i+1 with each cell of input i.

```
>> cellStrCat({'a','b'},{'1','2'},'_',{'x','y'})

ans =

    'a1_x'   'a1_y'   'a2_x'   'a2_y'   'b1_x'   'b1_y'   'b2_x'   'b2_y'
```

`num2cellStr` - Converts a numerical array (of any dimensions) into a cell
array of strings of the same dimension.

```
>> num2cellStr(1:4)

ans =

    '1'    '2'    '3'    '4'
```
Add help for `cellStrCat` and `num2cellStr`
Fix inconsistent 'grow cell array in loop' style
Make contact sensor state/output names different
added test cases from Ani
updating submodule
resolves missing library on mac for drake_viewer
adding euler angles to forwardJacDot (matlab only for now)
implemented Jdot for euler angles (mex and matlab)
adding simple test to test consistency between Jdot w/rotations in matlab/mex
fixed call to forwardJacDot. I think this is the only example that was using the robotnum argument
working changes, added LU decomp and some timing printouts
removed timing code
implemented recursive algorithm from Orin, Goswami, Lee (2013) in matlab
mex'd recursive CMM algorithm
display optional in momentumTest script
removing backup file
sets up new kinematic tree logic properly, but still need to update the inertial and kinematic information
first complete pass on updating frames.  have to debug now...