add the gradient of rpy2rotmat
Add RelativeEuler function to kinematics
Add Euler, Quaternion, etc to kinematic. Remove subref from drakeFunction
Add a test for DesiredQuatDiff
rerun the trajectory optimization for jumping
change the plan a bit, add a constraint on pelvis height at apex
Jumping is successful!!! With torque limits!!!
Write NonlinearProgramSnoptmex, need to add the cmake file
add more options to for snopt, will make sure the print file works
The print out file in snopt is not set correctly
snopt print to a file named fort.9'
add Print file option, now snopt prints to fort.15
add a memory check in snopt, reallocate the real and imaginary workspace if necessary
Merge branch 'master' into NonlinearProgramSnoptmex
remove snset in NonlinearProgram
generalize to compile on mac
Merge pull request #1 from RussTedrake/NonlinearProgramSnoptmex

generalize to compile on mac
add support for SNOPT if the user installed SNOPT by themselves
Merge branch 'NonlinearProgramSnoptmex' of https://github.com/hongkai-dai/drake into NonlinearProgramSnoptmex
Merge branch 'master' into addIKfunction