adding findJointIndices function (previously an extensively used utility function in the DRC repo)
better display rate
add angleDiff to controlUtil.cpp
fixed comments
adding mex'd bodyMotionControl block
adding pelvis control block for walking
add atlas walking example
cleanup: moving a couple functions to controlUtil
minor updates to walking/balancing test scripts
comment fix
Merge pull request #258 from kuindersma/add-atlas-walking-example

Add atlas walking example