updating resolveConstraints to use new optimization classes
implemented window resizing and value displays in inspector to make it a little more usable
Merge branch 'more_optimization' of https://github.com/RussTedrake/drake into inspector
inspector uses new resolveConstraints program (with an added constraint for the current slider, as was originally intended)
getActuatedJoints should output column vector, not a row vector.  fixed state dim logic in inspector
added quadratic objective (to not move the other joints).  it's not fast, but it finally behaves as expected
implemented derivatives of the stateConstraints method to avoid taylorVars
fixed some obvious bugs in unilateralConstraint gradients to make the new resolveConstraints work.  can't believe we didn't hit those before
added viewpoint logic that rick requested
handle single state dim case
handle the zero actuator case more gracefully
only do gradient computation when necessary
support obj.grad_method being a cell array (for gradient tests)
resolves issue #154 .  confirmed that you cannot successfully pass taylovars through the collision detection code, and switched the attempted handling over to an error
make error display match valuecheck output order
edits per code review from Andres
Merge pull request #278 from RussTedrake/inspector

updates resolveConstraints to the new optimization classes, and updates inspector to use resolveConstraints effectively