Added backward/forward/midpoint options to traj opt w/contact.
Added case 15 to snoptInfo.
Merge branch 'drake-origin/master'
octomap wrapper works for simple example
first pass at typing in octree writer system
RigidBodyDepthCamera -> RigidBodyDepthSensor
initial lcmgl code is in (but not tested)
octree lcmgl works (but is certainly not optimized)
Adds support for inserting a point cloud into an Octree
Merge pull request #262 from RussTedrake/octomap

Octomap
Merge branch 'drake-origin/master'

Conflicts:
	solvers/trajectoryOptimization/ContactImplicitTrajectoryOptimization.m
Fixes related to falling brick test.
adding angle average util function
use angleAverage in pelvis motion control block
logic improvelent (handles case when some link_constraints have dtraj, but others don't)
adding cpp angleAverage function
pelvis cpp controller uses angleAverage
fixed variable not defined bug
adding use_mex=2 to body/pelvis motion controllers
adding a walking test mex unit test