testNLP checks with every solvers.
fix isdiscrete logic check in simulate (and save a few calls to getSampleTime).  turns out this was never working correctly for simulink models because of the previous transpose bug
improved performance of realtime block by delaying t0 til the first update, instead of mdlStart.  moved constantTorqueDemo.mdl from dev to main pendulum branch
clean up the temp files generated by calls to avl and xfoil.  they were making a mess of the build server temp directories
minor code optimizations.  the debugging spew makes me think everything is working well
fix atlas example, which was trying to query a DT trajectory at a non-knot point
also failed when T was not a multiple of dt
Merge pull request #400 from RussTedrake/default_simulink_solver

fix isdiscrete logic check in simulate (and save a few calls to getSampl...
Merge pull request #401 from RussTedrake/realtime

improved performance of realtime block
Merge pull request #402 from RussTedrake/tempfile_cleanup

clean up the temp files generated by calls to avl and xfoil.
Improved documentation on occluded markers.
Got rid of for loops in gradient computation. Added cellMatGradMultMat.
extracted motionCaptureJointCalibration function out of jointOffsetCalibration. Also using motionCaptureJointCalibration for joint stiffness calibration, and added a test for this.
refactored motionCaptureJointCalibration to work with any number of bodies
updated jointStiffnessCalibration: now it first finds the floating states and then the stiffnesses.
now using quaternion parameterization inside motionCaptureJointCalibration. Floating states found are more often correct, but there's still issues with [3.14; x; 3.14] rpy's
updated documentation, fewer poses in stiffness test so that it runs faster
finishing touches
adds a few plotting utils
adds gradients to barycentric code