updating resolveConstraints to use new optimization classes
implemented window resizing and value displays in inspector to make it a little more usable
Merge branch 'more_optimization' of https://github.com/RussTedrake/drake into inspector
inspector uses new resolveConstraints program (with an added constraint for the current slider, as was originally intended)
getActuatedJoints should output column vector, not a row vector.  fixed state dim logic in inspector
added quadratic objective (to not move the other joints).  it's not fast, but it finally behaves as expected
implemented derivatives of the stateConstraints method to avoid taylorVars
fixed some obvious bugs in unilateralConstraint gradients to make the new resolveConstraints work.  can't believe we didn't hit those before
adding drakeGradientUtil.
Profiled and optimized transposeGrad.
Added matGradMultMat using unsupported KroneckerProduct as a baseline for profiling.
matGradMultMat improvements.
added normalizeVec with gradient and second derivative.
getSubMatrixGradient.
setSubMatrixGradient.
Better templating for normalizeVec.
constexpr's instead of macros. Made a GradientType struct to allow for automatic gradient type definitions.
Implemented dHomogTrans. Will move it to drakeGeometryUtil later.
dHomogTransInv.
dTransformAdjoint, dTransformAdjointTranspose.