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
Bug fixes. Need to test with a more complex robot. Compile breaks with a second robot (addRobotFromURDF).
switching testContactGrad test to use numerical.  but it still fails (occasionally).  added more debugging tools to help; it looks like the problem might be real
shouldn't have checked in the gradTest (not good for the build server)
fix getInitialState logic bug found by michael
grep found a lot of places where we were handling the state constraint case but not handling the unilateral constraint case.  added errors where appropriate
fix typo
another unilateral constraint check
adding known issue
more known issues
resolved issue
resolves new unit test failures
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