Add utilities to compute identifiable parameters of an msspoly expression
Fix frame handling in `findFixedPoint`.

`findFixedPoint` (both in `RigidBodyManipulator` and
`TimeSteppingRigidBodyManipulator`) now outputs a `Point` in the state
frame.
Add naive loop-over-columns `decimateMultiCol`.
make sure lqr examples can run even if sedumi is not installed.
Fix to bodyKin in no-mex case.
Ignoring *~ files
Switched variable naming in bodyKin fix (to set body_ind)
Merge pull request #5 from mposa/master

Fix to bodyKin in no-mex case, ignoring *~ files
Merge pull request #1 from avalenzu/get-parameters-utils

Add utilities to compute identifiable parameters of an msspoly expression
Merge pull request #2 from avalenzu/tsmanip-frames

Fix frame handling in `findFixedPoint`.
Merge branch 'multi-column-decimate' of https://github.com/avalenzu/drake
fix Bug 1950 .  the improved text filtering killed the safety logic.  wow.  we’ve been running blind since Dec 6.
was a crazy timeout…
geometricJacobian RPY and quat floating base parameterization
Move twist utility functions to their own files
compute twists in doKinematics
now computing Tdot from twists
remove relativeTdot
Untangled dTdqdot computation from rest of kinematics computation. Allows us to get rid of double computation of Tdot.
cleanup