Seems like at some point the QuadradicLyapunov properties were made private and accessor functions were added. This commit updates regionOfAttraction to use the accessor functions instead
Change to how the UnderwaterAcrobot is defined. Assumes that each link is a circular beam, rather than a 2D ellipse. Far easier to come up with reasonable control vlaues this way
Updated URDF file for the new parameters
New analytic gradients from the new method of parameterizing the UnderwaterAcrobot
Updated runLQR with now stable initial conditions. I tested this a bunch and will be surprised if it breaks again.
Merge pull request #149 from jacob-izr/master

Fixed instability in runLQR in UnderwaterAcrobot example