resolves #586 but allocates to the STACK instead of HEAP and can fail for big problems.  one more cleanup pass coming
would have thought this was the right answer, but i get segfaults on delete[].  will commit the STACK version for now and ask Hongkai if he's seen this
revert to static allocation for now.  see #586
resolves all nagging issues around NonlinearProgramSnoptCMex
cleaned up memory allocation in inverseKinBackend (following cleanup in NonlinearProgramSnoptmex).  there was a lot of (unnecessary) dynamic allocation going on in here. ik might have just gotten faster
testIK runs again, but still fails with the known issue
more cleanup of snopt calls.  still segfaulting
add memory allocation for the print out string|
Merge pull request #11 from hongkai-dai/winmem

add memory allocation for the print out string|
add a very basic implementation of mixed LCP as an MILP in gurobi
Merge branch 'master' into winmem
link against snopt_c. Now testNLP succeeds, but testIK and testIKtraj fails
implemented proper scaling.  resolves #603
checked my own algebra and found one typo
fix frame logic bug caught by Sam Calisch in class with the following test: To recreate the behavior, it's enough to go into examples/Acrobot/runPassiveURDF.m and add this line: p = p.addRobotFromURDF('Acrobot.urdf'); after the original creation of p. Then later, change randn(4,1) to randn(8,1) to create initial conditions for the two acrobot system.
demonstrate ZMP tracking error
more accurate labeling of tests
experimental support for non-unit costs in ZMP closed form
change the joint_limit_min and max stored in RigidBody after we call setJointLimits in RigidBodyManipulator
resolves #613 and adds a test case