now IK and PostureConstraint can choose not to truncate the posture limits the RigidBodyManipulator's joint limits.
add test for PostureConstraint to remove its default bounds, that it uses the RigidBodyManipulator's joint limits as default
add the ID of the default joint limit bounds in InverseKinematicsTrajectory, so that we can delete it if the default joint limits is unwanted
Merge branch 'master' into add-IK-joint-limit
add a checkDependency in testIK in case snopt is not installed
Fix a bug that can cause memory leak in IKoptions
Merge pull request #418 from hongkai-dai/add-IK-joint-limit

Add ik joint limit
Merge branch 'master' into add-snopt-student

Conflicts:
	systems/plants/constraint/QuasiStaticConstraint.m