working traj opt commit
Merge branch 'origin/master'
Commented out f_ext line.
Working commit on traj opt.
Merge branch 'drake-origin/master'

Conflicts:
	solvers/trajectoryOptimization/ContactImplicitTrajectoryOptimization.m
testing
Fixes related to falling brick test.
Fixed bug in RigidBodyTorsionalSpring where spring torque was only applied to the child body (and not the parent).
Working commit.
Merge branch 'trajopt-working'

Conflicts:
	solvers/trajectoryOptimization/ContactImplicitTrajectoryOptimization.m
	solvers/trajectoryOptimization/test/contactImplicitBrick.m
	systems/plants/RigidBodyTorsionalSpring.m