adds simple quadrotor urdf (adapted from the ROS hector_quadrotor_description package)
minor updates to urdf parsing
RigidBodyMesh (partially) supports scale.
adds an lcmgl method for plotting points
disable ack requirement from botvisualizer.  it's missing valid acks (presumably because matlab's messageaggregator is dropping messages... don't know a great way around that)
fix plot3
quad program class more robust to input formats
resolves bugzilla bug 998.   implements trapezoidal rule for integrating cost in dircol.
merge