fix for grad with pos control and test
Added backward/forward/midpoint options to traj opt w/contact.
Added case 15 to snoptInfo.
first pass at lcm logger sfunction
asynchronous poll seems to be working well
stores data to simple log
successfully writes data to workspace structure
simple lcm log publisher
first pass at integrating lcmloging all the way through visualizer/playback.  not tested yet
lcm logging + playback works
Better collision geometry for the falling brick, and updated some typoes in other files related to RigidBodyInertialMeasurementUnit.m script
Merge branch 'master' of https://github.com/DiitsGp/drake into HEAD
Fixed some typoes in RigidBodyInertialMeasurementUnit.m, and added better collision to falling brick in FallingBrickBetterCollisionGeometry.urdf (the single brick now consists of 8 smaller bricks with their own collision geometries). Also added a new runtime script called fallingBrickLCP1.m which uses the better collision geo and the imu.
got lcm logger working
Merge branch 'drake-origin/master'
Revert "Better collision geometry for the falling brick, and updated some typoes in other files related to RigidBodyInertialMeasurementUnit.m script"

This reverts commit c0744e02562034bdbf2f7eaf3a3da821d1bbad01.
Fixed a typo in the RigidBodyInertialMeasurementUnit.m script and added better collision geometry (8 blocks comprising of a bigger block) with FallingBrickBetterCollisionGeometry.urdf.
added new geometry support to fallingBrickLCP.m
restored cmake
fix gcc compile (again)