force torque working commit.
contactSensorTest now passes.
Bug fixes. Need to test with a more complex robot. Compile breaks with a second robot (addRobotFromURDF).
resolve default argument redefinition compiler errors.  fixes #290.
Merge pull request #293 from patmarion/drakeGradientUtil-fixup

resolve default argument redefinition compiler errors.  fixes #290.
Merge pull request #287 from mposa/master

ContactForceTorqueSensor update
move contact force sensors back out of dev
resolves multi-frame indexing bug #291
switching testContactGrad test to use numerical.  but it still fails (occasionally).  added more debugging tools to help; it looks like the problem might be real
shouldn't have checked in the gradTest (not good for the build server)
fix getInitialState logic bug found by michael
grep found a lot of places where we were handling the state constraint case but not handling the unilateral constraint case.  added errors where appropriate
fix typo
another unilateral constraint check
Adds minimum version arg when finding octomap

Also updates the cmake submodule to get the two-argument form of the
pods_find_pkg_config macro.
Merge pull request #297 from avalenzu/octomap-version

Adds minimum version arg when finding octomap
Merge pull request #294 from RussTedrake/multiframe

fixes multi-frame frame_id logic bug
adding known issue
fixed time-stepping gradient computation for position control case
Check for 'package://' syntax and warn once

URDFRigidBodyManipulator presently does not support the 'package://' syntax for
specifying mesh filenames. Rather than spam the user with a warning for each
mesh file, we now warn once per urdf that uses that syntax.