Added backward/forward/midpoint options to traj opt w/contact.
Added case 15 to snoptInfo.
Merge branch 'drake-origin/master'
Merge branch 'drake-origin/master'

Conflicts:
	solvers/trajectoryOptimization/ContactImplicitTrajectoryOptimization.m
Fixes related to falling brick test.
Merge pull request #265 from mposa/master

Added integration method support to contact traj opt, updated brick test case.