some viz code
better drawing order
better transforms
vis using lcm vectors
visualizes different types of force and better impl
now IK and PostureConstraint can choose not to truncate the posture limits the RigidBodyManipulator's joint limits.
moving drawing to RBM class
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
docs for gravity mag
Merge branch 'master' into add-IK-joint-limit
add a checkDependency in testIK in case snopt is not installed
doxygen and moving grav to options
Merge pull request #391 from blandry/aeroinspector

Force visualizer
missed a few checks for spotless before calling trigpoly
resolves #286 on build servers by not recreating the file if it already exists in the tmp directory.  note that it could still fail on the very first parallel tests of a build server, but this will be good enough.  it's a pain to do better, since stl2vrml takes an output directory, not a filename.  (certainly not very difficult to do better, but this feels like a reasonable compromise)
fix win32 mexw32 output directories
adds unit test that would have caught the missing checkDependency
Merge pull request #425 from RussTedrake/lecture

minor fixes
update cmake