Plumbing for active_collision_options.collision_groups
Add test for active collision options

Test collisions for only specific bodies/groups
Fix handling of default constructed `Body` objects.
Handle the active_collision_options.group properly

Now only elements in the groups listed will be checked for collisions.
Pass collision group names from MATLAB to mex
Fix constructModelmex for collision elem. w/o grps
Add robotnum arg to removeCollisionGroups[Except]

The default is 1:numel(model.name). This allows for backwards compatibility
with code that expects the terrain to be preserved.
Add LCMGLClient convenience function.

This runs checkDependency('lcmgl'), then creates and returns a BotLCMGLClient.
Add getCMMdA

This is a `geval`-compatible version of `getCMM`. I think it should end up
being called `getCMM`, but I don't want to go through and change all the
current uses of `getCMM` to `getCMMAdot` in the DRC codebase right now.
add the SimpleDynamicsFullKinematicsPlanner class
Modify some constraint classes for cached kinsol

In order to get the size of the gradients correct, we have to pass q as well as
kinsol into the constraint eval method. I've modified the generate constraint
method in QuasiStaticConstraint and SingleTimeKinamaticConstraint to take (and
ignore) that extra argument.
Add KinematicPlanner
Minor fix to documentation
Decrease major iterations limit in SDFKP
1.construct a base class SimpleDynamicsFullKinematicsPlanner
2.construct a derived class ComDynamicsFUllKinematicsPlanner which enforces com acceleration and centroidal angular mometnum to match with the external forces
3.make changes on matGradMultMat for speed
1. Change the constructor of SimpleDynamicsFullKinematicsPlanner, now it does not accept kinematic constraint any more. The kinematic constraints should be added through addManagedKinematicConstraints function. Also when adding ContactWrenchConstraint through the constructor, the user should explicitly specify the knot points.
2. In matGradMultMat, use 'kron' as Andres suggested. The code is more readable
3. In DirectTrajectoryOptimization, add the name of the decision variables
1.create a dummy plant to represent the simple dynamics model without control inputs.
2.Add cost for the ComDynamicsFullKinematicsPlanner
change the input to SimpleDynamicsFullKinematicsPlanner from varargin to a cell of struct
Allow calling generateConstraint without t
Add addRigidBodyConstraint method to SDFKP.

Also add support for quasi-static constraints to SDFKP.