Changed LCMGL checkDependency to use cmake class path
Fix an error in the previous pull request #46
updating cmake
Merge pull request #86 from hongkai-dai/FixIKError

Fix an error in the previous pull request #46
Merge pull request #81 from mposa/master

Changed LCMGL checkDependency to use cmake class path
Create a common parent class NonlinearProgramWKinsol class for InverseKin and InverseKinTraj. Should be easier to write code for dynamic planning
add a CoMMatchConstraint to be used in CoMPlanning
add a CoMPlanning object based on InverseKinTraj. Add the constraint on euler integration. Will need to work on the ContactWrenchConstraint. Also, comddot may not need to be a decision variable
add a test file for CoMPlanning
1.add ContactWrenchConstraint into CoMPlanning.
2.add CentroidalTorque in ContactWrenchConstraint to compute torque about the center of mass
Add a SimpleCentroidalTorqueConstraint to enforce the total torque at CoM being zero for the CoM model
Add the dynamic constraint to CoMPlanning. Pass the gradient test
CoMPlanning works for the first time. I need to do something more clever about the initial seed
start to work on a planning for CoM trajectory and contact force only