check for 'snopt' was failing if there was a snopt directory.  i hope snset is more robust
fix code style
depth cameras output 3D points instead of just depths
minor interface mods to make the trajectory optimization more amenable to MPC
fix frame logic: creating a timestepping manipulator should not recreate the input/output frames
zap GetFullPath in favor of matlab's which.  it's more general, and probably all around better.  not sure what i was thinking before
add option to create state constraints which depend on a subset of the state vector
fix argument processing error in RigidBodyThrust which was invalidating urdf-specified thrust limits
don't construct utape unless it's requested
re-enabled lcmgl in quadrotor
added rate transition block to enable low-rate mpc planners generating continuous time output
added rate transition block to enable low-rate mpc planners generating continuous time output
reconstructTrajectories should output utraj first, then xtraj
got sample times working properly for rate transition block
remove getfullpath from cmakelists
remove old trajOpt during addpath_drake
Merge branch 'playing_with_mpc' of https://github.com/RussTedrake/drake into quad_forest
adds display routine to nonlinear program
quadrotor obstacle avoidance example works--most of the time. still only checking for collisions at the knot points (so it still clips sometimes), and of course it can get stuck in local minima