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
Qy in zmp tracker now gets passed to tilqr
silenced printout in trajectory class
Merge pull request #45 from kuindersma/speed-up-cmm

Speed up CMM computation, add Euler angle support to forwardJacDot