Added full Lyapunov parameterization to funnel computation code. Updated glider example files.
changed urdf file to match glider plant
made minor commenting updates to funnel code
corrected air density
aadded input to gradients
Add 'setBounds' method to Constraint, fix the input check in Constraint class
add the test for 'setBounds' in Constraint class
delete NonlinearProgramWConstraintObjects, move its content to NonlinearProgram
Add IPOPT support to NonlinearProgram
revise the NonlinearProgram, such that the objective and constraints only compute the gradient when they have to.
Remove 'addSlackVariables' in CompositeConstraint, this can cause confusion if we addSlackVariable and then add constraints, as the old constraints and the newly added constraints are for different set of variables.
move 'infeasible_constraint' to NonlinearProgram from InverseKinematics
Fixes for NonlinearProgram after run make test
Merge branch 'master' into cleanupNonlinearProgram

Conflicts:
	solvers/NonlinearProgram.m
	solvers/test/testNLPWConstraint.m
Fix a bug in adding constraint names to NonlinearProgram. Add more logics to setSolver so now it accepts 'default'
proposed resolution to issue #104.  let's see if this breaks everything
Fix QuadraticProgram, now it overloads the methods from NonlinearProgram, such as addCost
Throw error in PolynomialProgram when the user wants to call methods like 'addCost', 'addNonlinearConstraint'
Add dependecy checking when we compare solvers for NonlinearProgram
add dependecy check for fastqp