playing with adding masses to the end of an arm
WorldQuat function
ignore new fort.15 files
fix incorrect assumptions in swing planning

* no longer assume that the orientation of the sole matches the orientation of the foot
* no longer assume that the transform from foot to sole is the same in both feet
more frame fixes
Merge pull request #591 from rdeits/rd-fix-swing-frames

Fix frames in swing planning
Now NonlinearProgram handles the case that either cost or nonlinear constraint carries input argument with duplicate decision variables
Now NonlinearProgram can handle BoundingBoxConstraint with duplicate variables
Now NonlinearProgram accept empty linear constraint. Previously it would fail if we add an empty constraint, and then try to delete it
add the print file if student snopt is used
fix a bug in the previous way to set the print out file for snopt
throw an error if the xind argument in addCost/addNonlinearConstraint/addBoundingBoxConstraint contains duplicate entries
The previous cost on ComDynamicsFullKinematics is incorrect when choosing the time interval, fix it
One gradient computation in SingleBodyDynamicsFullKinematics is incorrect
add support for publishing inertia ellipsoids over lcmgl.  helpful for debugging urdf/sdf dynamics
better inertial visualizations.  tested on atlas, etc.
adds support for rpy in the inertial urdf tags (can't believe we never needed it before).
Merge branch 'arm_planning' into inertiaEllipsoids
better ignore for fort files.
additional comments.  might be better to visualize equivalent ellipsoids, but didn't spend the time finishing this.
Merge pull request #602 from RussTedrake/inertiaEllipsoids

add support to BotVisualizer for publishing inertia ellipsoids over lcmgl.