deleting obsolete AtlasCOM frame, adding alternatives
adding running traj data from Andres
generalizing QP controller to handle slightly more general LQR solutions
first pass at lcm logger sfunction
removing Q (never used in ctg)
adding ignore_effort_limits option to RBM
fix to handle inf bounds with gurobi
add atlas running example
pushed linear sys generalization into mex, tested running/balancing successfully
asynchronous poll seems to be working well
stores data to simple log
successfully writes data to workspace structure
simple lcm log publisher
first pass at integrating lcmloging all the way through visualizer/playback.  not tested yet
lcm logging + playback works
replace strcmpi with ismember to get rid of order dependence in group name cell arrays
add contact_groups argument to getTerrainContactPoints
update cost function comment
support contact groups in RigidBodySupportState
minor