octomap wrapper works for simple example
first pass at typing in octree writer system
RigidBodyDepthCamera -> RigidBodyDepthSensor
initial lcmgl code is in (but not tested)
octree lcmgl works (but is certainly not optimized)
minor footstep tweaks
Improve step trimming to fix poor behavior when final steps are far apart
much better trimming, with auto leading foot selection and better performance
Round off trim variable to make sure we convert it to logical correctly
Trimmed footsteps don't need to be assigned to a region
better colors
pass cos and sin approx out for debugging
MIQCQP with trim enabled in pure gurobi matlab working well
Minor tweaks for possibly better MIQCQP performance
Miscellaneous playing with parameter tuning
Lots o' comments
Plumbing for active_collision_options.collision_groups
Add test for active collision options

Test collisions for only specific bodies/groups
Fix handling of default constructed `Body` objects.
Handle the active_collision_options.group properly

Now only elements in the groups listed will be checked for collisions.