add a very basic implementation of mixed LCP as an MILP in gurobi
demonstrate ZMP tracking error
add use_new_kinsol.
new doKinematics if use_new_kinsol.
more accurate labeling of tests
experimental support for non-unit costs in ZMP closed form
new geometricJacobian
c++ new doKinematics
progress in c++ code for doKinematics, geometricJacobian.
testGeometricJacobian now passes when RigidBodyManipulator.use_new_kinsol is either true or false
added collision example in response to question.  resolves #617.
hopefully fixes (very) low probability failure on unit test
```Matlab

                           < M A T L A B (R) >
                 Copyright 1984-2014 The MathWorks, Inc.
                   R2014a (8.3.0.532) 64-bit (glnxa64)
                            February 11, 2014

To get started, type one of these: helpwin, helpdesk, or demo.
For product information, visit www.mathworks.com.

To reproduce this test use rng(2042137770,'twister')

[Warning: Disabling autosave for simulink blocks (to avoid generating a lot
of
*.mdl.autosave files in your directory.  If you aren't a regular Simulink
user
and don't want this disabled, comment out this section in addpath_drake.
To disable this warning in the future, add
  warning('off','Drake:DisablingSimulinkAutosave')
to your matlab startup.m]
[> In addpath_drake at 74
 In addpath_drake at 4]
gradients generated by user and taylorvar don't match for output 3
Error using valuecheck (line 78)
Values don't match.
   Index       Value       Desired Value
  -------     --------    ---------------
    (1,6)  9399.488358     9399.488358
    (3,6)  9399.961561     9399.961561
    (1,8)  9399.488358     9399.488358
    (3,8)  9399.961561     9399.961561

Error in geval (line 79)
           valuecheck(fdf{j},varargout{j},options.tol);

Error in testAngularvel2rpydotMatrix>testGradient (line 14)
   [~, ~, ~] = geval(1, @angularvel2rpydotMatrix, rpy, option);

Error in testAngularvel2rpydotMatrix (line 3)
testGradient();

Error in fevalPackageSafe (line 21)
 feval(f);

<test_name>util/test/testAngularvel2rpydotMatrix</test_name>
<error_id>Drake:ValueCheck</error_id> <error_message>Values don't match.
   Index       Value       Desired Value
  -------     --------    ---------------
    (1,6)  9399.488358     9399.488358
    (3,6)  9399.961561     9399.961561
    (1,8)  9399.488358     9399.488358
    (3,8)  9399.961561     9399.961561
</error_message>

```
moved most urdf-specific parsing into addRobotFromURDF (instead of RBM or RB).  started working on sdf parser.
Remove links from old collision filter groups

... when ignoring self collisions. Otherwise, self collisions will still be
checked between bodies that belong to collision filter groups eligible for
collision.
Add ignoreSelfCollisionsTest.
update closed ZMP solution to support non-unit costs, and add tests
only check size along first dimension
clean up
Don't use bullet if use_bullet is false
make sure frame_id is the right shape (column, not row)