Add support for fmincon options in NonlinearProgram
respect instep shift parameter
fix missing function definition (which was in DRC Atlas.m but not drake)
Merge pull request #322 from rdeits/rd-fmincon-options

Add support for fmincon options in NonlinearProgram
Merge pull request #323 from rdeits/rd-instep-param

Make ZMP instep shift a parameter