add deriv function to pptrajectory (don't have to construct pptrajectory object to evaluate derivative at a point)
remove matrix inverse from pchip coefficient computation (becomes prohibitively expensive for large n)
remove unnecessary semicolon
disable autosave in simulink (again)
Merge pull request #475 from kuindersma/tvlqr-related-speedups

tvlqr-related speedups
remove 'ignore-joint-limit' feature in PostureConstraint and IK
Merge pull request #477 from hongkai-dai/remove-ik-jointlimits

remove 'ignore-joint-limit' feature in PostureConstraint and IK
Merge branch 'master' into atlas-walking