wing cleanup and perching with user gradients
fixing perching by changing the cost
switched joint_limits_min and _max to VectorXd
due to a difference between std::vector.resize() and VectorXd.resize(), i was trying to allocate an infinite length vector. :)
switched over pitch, parent, and dofnum
RBM double* to VectorXd
MatrixXd* and VectorXd* to std:vector<MatrixXd> and std:vector<VectorXd>
added EIGEN_MAKE_ALIGNED_OPERATOR_NEW
RigidBody* and RigidBodyFrame* to std::vector<RigidBody>, etc
comment out collisionDetect call.  fixes segfault for my simple test case
small mex cleanups
finally figured out a pretty good way to implement the 'warn once' feature that I've been longing for
collisionDetect should now do some things (most notably interaction between terrain contact points on the terrain), even without mex and/or bullet
warnOnce for velocity limits in urdf
warning manager needed to be initiated from a constructor.  fixed terrain in multiRobotTest.  quieted lots of warnings.  added some known issues
handling missing dependencies.  quieting more warnings
fixed some logic bugs in the force gradients.  zapped inertia check in parseInertial, since a better test happens at compile time (only warning about important bodies with no inertia).  quieted more warnings.  cleaned up error reporting.
more minor fixes, quieting warnings
fixed checkDependency to not print out if the output boolean is captured (this was intended as the quiet mode).  more depedency fixes (for minimal distro).  silenced more warnings.
switched joint_limits_min and _max to VectorXd