RigidBodyDepthSensor outputs points in the sensor frame (instead of world frame).  Tweak the way coordinate frames are constructed in RigidBodySensors to facilitate classes which consume those sensors getting access
first pass at an OcTreeSystem
support unilateral constraints in cascade system
support xtraj output even if ytraj should be empty.  move lcm logger data extraction up because makeSubTraj can call the mdl again, which causes it to rewrite an empty log to the workspace variable
octree building example works
octree building example works
fix failing unit test and zaps what now looks like a very strange sensor option in addRobotFromURDF
updated compile to support sensors being enabled by default
yet another attempt to clean up the joint sensor processing.  i think this one works
Merge pull request #372 from RussTedrake/octomap

improved support for octrees