fix the gradient computation in RigidBodyManipulator.findFixedPoint
resolves #152 by having an optional additional argument which requires the missing info if the lcmtype does not exist (and therefore cannot be mined for the frame dimension/coordinate name info)
Merge pull request #388 from mitdrc/master

added another template for eigenToMatlab
edits from Hongkai's code review
Merge pull request #387 from RussTedrake/lcm_frame_without_lcm

resolves #152 by having an optional additional argument
updates constant torque demo (for class)
vector drawing for lcmgl
Merge pull request #390 from blandry/lcmglvector

Vector drawing for lcmgl
Merge pull request #383 from hongkai-dai/fixFindFixedPoint

fix findFixedPoint gradient
add missing passthrough
new file to plan a very sparse pitched swing traj
cleanup
pre-compute cubic poly coefficients
new function to compute spline coeffs
using cubic spline segments for evaluating foot trajectories
t0 is always assumed to be 0 for spline coeffs
quiet, but throw an error if IK fails
added qdd_lb ard to qp mex. untested
simpler computation of terrain height
Merge branch 'drake-heel-raise' of github.com:mitdrc/drake into drake-heel-raise