Added full Lyapunov parameterization to funnel computation code. Updated glider example files.
changed urdf file to match glider plant
made minor commenting updates to funnel code
corrected air density
aadded input to gradients
Add 'setBounds' method to Constraint, fix the input check in Constraint class
add the test for 'setBounds' in Constraint class
delete NonlinearProgramWConstraintObjects, move its content to NonlinearProgram
Add IPOPT support to NonlinearProgram
revise the NonlinearProgram, such that the objective and constraints only compute the gradient when they have to.
Remove 'addSlackVariables' in CompositeConstraint, this can cause confusion if we addSlackVariable and then add constraints, as the old constraints and the newly added constraints are for different set of variables.
move 'infeasible_constraint' to NonlinearProgram from InverseKinematics
Fixes for NonlinearProgram after run make test
Got rid of some SecondOrderSystem calls.
PD control.
removing 2 resolved tests, hoorah (and adding 1 new one).
Add a function in testNLPWConstraint, so that the solver will use fmincon if snopt is not installed
NonlinearProgram already has the logic to set default solver as fmincon when SNOPT is not installed. Also set 'snopt' and 'fmincon' method as protected in NonlinearProgram to expose less details to the user.
num_positions, num_velocities in Manipulator.
convex hull urdf should still have real meshes for the visual geometry