first pass at lcm logger sfunction
asynchronous poll seems to be working well
stores data to simple log
successfully writes data to workspace structure
simple lcm log publisher
first pass at integrating lcmloging all the way through visualizer/playback.  not tested yet
lcm logging + playback works
got lcm logger working
fix gcc compile (again)
Merge pull request #247 from DiitsGp/master

Made some changes!
Merge pull request #242 from RussTedrake/lcm_logger_sfun

lcm/lcmgl integration with simulate then playback
support error suppression in findJointInd to match implementation in findLinkInd.  add error in Point
fix int bug
add acceleration constraint gain as a parameter
add option to change foot contact logic
making u0 a required parameter. handling the S constant case. adding plan_shift property back in
fixed a couple missed changes
remove explicit second argument to work with constant trajs
better comments for foot contact changes
Merge pull request #251 from kuindersma/update-controller

Controller updates