resolves #586 but allocates to the STACK instead of HEAP and can fail for big problems.  one more cleanup pass coming
would have thought this was the right answer, but i get segfaults on delete[].  will commit the STACK version for now and ask Hongkai if he's seen this
revert to static allocation for now.  see #586
resolves all nagging issues around NonlinearProgramSnoptCMex
cleaned up memory allocation in inverseKinBackend (following cleanup in NonlinearProgramSnoptmex).  there was a lot of (unnecessary) dynamic allocation going on in here. ik might have just gotten faster
testIK runs again, but still fails with the known issue
more cleanup of snopt calls.  still segfaulting
add memory allocation for the print out string|
Merge pull request #11 from hongkai-dai/winmem

add memory allocation for the print out string|
Merge branch 'master' into winmem
link against snopt_c. Now testNLP succeeds, but testIK and testIKtraj fails
Merge branch 'master' into winmem
Now NonlinearProgramSnoptmex works. The fix is that we need to call snInit before we call snMemA. Now it prints to the correct file, and does not print to fort.xx
The C++ IK works with SNOPT now
now iktraj works in C++ with snopt
fix a bug in smoothDistancePenalty, otherwise when both bodies does not have collision geometry, it can cause problem in matrix dimension
Merge pull request #12 from hongkai-dai/winmem

fix snopt problem
Merge branch 'winmem' of https://github.com/RussTedrake/drake
fix warnings
name clash was breaking the unit test parsing on windows w/ R2012a