deleting obsolete AtlasCOM frame, adding alternatives
adding running traj data from Andres
generalizing QP controller to handle slightly more general LQR solutions
first pass at lcm logger sfunction
removing Q (never used in ctg)
adding ignore_effort_limits option to RBM
fix to handle inf bounds with gurobi
add atlas running example
add getNumPositions/getNumVelocities passthrough methods to TSRBM
pushed linear sys generalization into mex, tested running/balancing successfully
Merge pull request #240 from kuindersma/add_passthrough

add getNumPositions/getNumVelocities passthrough methods to TSRBM
asynchronous poll seems to be working well
stores data to simple log
successfully writes data to workspace structure
simple lcm log publisher
first pass at integrating lcmloging all the way through visualizer/playback.  not tested yet
Plumbing for active_collision_options.collision_groups
Add test for active collision options

Test collisions for only specific bodies/groups
Fix handling of default constructed `Body` objects.
Handle the active_collision_options.group properly

Now only elements in the groups listed will be checked for collisions.