Tracks master on cmake submodule.
Updates to doxyfile.
Zap a change to gitmodules so that I can pull request cleanly.
Changes the text on the front page of the drake documentation to have a few more useful links.
Merge pull request #85 from andybarry/master

Update some doxygen files
adds ubuntu prereqs, and fixes a few assumptions (e.g. boost, bullet deps) in cmakefiles
Create a common parent class NonlinearProgramWKinsol class for InverseKin and InverseKinTraj. Should be easier to write code for dynamic planning
add a CoMMatchConstraint to be used in CoMPlanning
add a CoMPlanning object based on InverseKinTraj. Add the constraint on euler integration. Will need to work on the ContactWrenchConstraint. Also, comddot may not need to be a decision variable
add a test file for CoMPlanning
1.add ContactWrenchConstraint into CoMPlanning.
2.add CentroidalTorque in ContactWrenchConstraint to compute torque about the center of mass
Add a SimpleCentroidalTorqueConstraint to enforce the total torque at CoM being zero for the CoM model
Add the dynamic constraint to CoMPlanning. Pass the gradient test
CoMPlanning works for the first time. I need to do something more clever about the initial seed