force torque working commit.
contactSensorTest now passes.
resolve default argument redefinition compiler errors.  fixes #290.
Merge pull request #293 from patmarion/drakeGradientUtil-fixup

resolve default argument redefinition compiler errors.  fixes #290.
Merge pull request #287 from mposa/master

ContactForceTorqueSensor update
move contact force sensors back out of dev
resolves multi-frame indexing bug #291
Adds minimum version arg when finding octomap

Also updates the cmake submodule to get the two-argument form of the
pods_find_pkg_config macro.
Merge pull request #297 from avalenzu/octomap-version

Adds minimum version arg when finding octomap
Merge pull request #294 from RussTedrake/multiframe

fixes multi-frame frame_id logic bug
fixed time-stepping gradient computation for position control case
Check for 'package://' syntax and warn once

URDFRigidBodyManipulator presently does not support the 'package://' syntax for
specifying mesh filenames. Rather than spam the user with a warning for each
mesh file, we now warn once per urdf that uses that syntax.
Re-enable building of urdf_collision_test

Also fixes the executable name in the usage message for urdf_collision_test.
Merge pull request #299 from avalenzu/fix-URDFRigidBodyManipulator-warnings

Fix urdf rigid body manipulator warnings
Merge pull request #298 from kuindersma/fix-position-control-gradients

fixed time-stepping gradient computation for position control case
Add 'setBounds' method to Constraint, fix the input check in Constraint class
add the test for 'setBounds' in Constraint class
delete NonlinearProgramWConstraintObjects, move its content to NonlinearProgram
Add IPOPT support to NonlinearProgram