Merge pull request #161 from hongkai-dai/master

Remove the dependencies on MAT file in the C++ executables for IK test
remove deprecated option for multipleShooting from trajectoryOptimization
fix taylorvar grads
added thrust to urdf model.  simple openloop animations look good.  lqr has problems, probably due to issue #165
added dircol stub.  it also fails, presumably due to #165.  added random obstacles and collision objects.  its fun to watch
added thrust to urdf model.  simple openloop animations look good.  lqr has problems, probably due to issue #165
added dircol stub.  it also fails, presumably due to #165.  added random obstacles and collision objects.  its fun to watch
TSRBM is only used to simulate.  added gravity method to RBM.  support Taylorvars in RigidBodyThrust
slider, since the traj opt w/ taylorvar takes *forever*
merge
Adds RigidBodyLidar
lidar code runs, but looks wrong
added lcmgl debugging for lidar
Debugs LIDAR and make visualizer work.
Vectorizes raycasting code and adds test code for it.
Merge pull request #6 from andybarry/quadrotorFun

Vectorizes raycasting code
Fixes documentation for size of arrays in collisionRaycast.
Merge pull request #7 from andybarry/quadrotorFun

Documentation fix for raycasting.
update cmake ref
updating cmake