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
Merge branch 'glider' of https://github.com/josephlmoore/drake
RobustDrakeSystem shouldn't have been checked in yet
rename
fix camel-case
fix unit tests (don't assume glider_trajs.mat is already there)
had duplicate dircol codes.
more cleaning
remove debug spew