fix incorrect assumptions in swing planning

* no longer assume that the orientation of the sole matches the orientation of the foot
* no longer assume that the transform from foot to sole is the same in both feet
more frame fixes
Merge pull request #1 from peteflorence/quadwind

yalmip addpath
Merge pull request #591 from rdeits/rd-fix-swing-frames

Fix frames in swing planning
Merge branch 'master' of https://github.com/RobotLocomotion/drake