add the gradient of rpy2rotmat
Add RelativeEuler function to kinematics
Add Euler, Quaternion, etc to kinematic. Remove subref from drakeFunction
Add a test for DesiredQuatDiff
rerun the trajectory optimization for jumping
change the plan a bit, add a constraint on pelvis height at apex
Jumping is successful!!! With torque limits!!!
Merge branch 'master' into addIKfunction
add both q and kinsol as input arguments in drakeFunction.kinematics
Merge branch 'master' into addIKfunction
Merge branch 'master' into addIKfunction
now drakeFunction accept multiple inputs in  function
1. In some drakeFunction.kinematic functions, add both q and kinsol in its eval function. Use kinsol when both inputs are given, use q to compute kinsol if only q is given.
2.Fix a documentation error in Concatenated
add a test for worldPosition
Merge branch 'master' into addIKfunction
Merge branch 'master' into addIKfunction
add a GraspFrictionConeWrench for the case that the contact point is specified on the finger, but the contact normal is specified on the object
add the test for GraspFrictionConeWrench. The test for old GraspWrench is broken
restructure the ComDynamicsFullKinematicsPlanner, now its centroidal dynamics can be reloaded
change the structure of SimpleDynamicsFullKinematics, now the ComDynamicsFullKinematics can derive new class