minor footstep tweaks
Improve step trimming to fix poor behavior when final steps are far apart
much better trimming, with auto leading foot selection and better performance
Round off trim variable to make sure we convert it to logical correctly
Trimmed footsteps don't need to be assigned to a region
better colors
pass cos and sin approx out for debugging
MIQCQP with trim enabled in pure gurobi matlab working well
Minor tweaks for possibly better MIQCQP performance
Miscellaneous playing with parameter tuning
Lots o' comments
fix extra NaNs when swing foot roll/pitch are freed

fixes #400
Merge pull request #249 from rdeits/rd-footstep-adjustments

Add new MIQCQP footstep planner