resolves #152 by having an optional additional argument which requires the missing info if the lcmtype does not exist (and therefore cannot be mined for the frame dimension/coordinate name info)
edits from Hongkai's code review
Merge pull request #387 from RussTedrake/lcm_frame_without_lcm

resolves #152 by having an optional additional argument
updates constant torque demo (for class)
Merge branch 'master' of https://github.com/RobotLocomotion/drake into control_surface
zaps lcmgl code and removes error for rpy but does not test rpy yet.