resolves #586 but allocates to the STACK instead of HEAP and can fail for big problems.  one more cleanup pass coming
would have thought this was the right answer, but i get segfaults on delete[].  will commit the STACK version for now and ask Hongkai if he's seen this
revert to static allocation for now.  see #586
resolves all nagging issues around NonlinearProgramSnoptCMex
cleaned up memory allocation in inverseKinBackend (following cleanup in NonlinearProgramSnoptmex).  there was a lot of (unnecessary) dynamic allocation going on in here. ik might have just gotten faster
testIK runs again, but still fails with the known issue
more cleanup of snopt calls.  still segfaulting
add memory allocation for the print out string|
Merge pull request #11 from hongkai-dai/winmem

add memory allocation for the print out string|
add a very basic implementation of mixed LCP as an MILP in gurobi
Merge branch 'master' into winmem
link against snopt_c. Now testNLP succeeds, but testIK and testIKtraj fails
add use_new_kinsol.
new doKinematics if use_new_kinsol.
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>

```