check for 'snopt' was failing if there was a snopt directory.  i hope snset is more robust
fix code style
depth cameras output 3D points instead of just depths
minor interface mods to make the trajectory optimization more amenable to MPC
fix frame logic: creating a timestepping manipulator should not recreate the input/output frames
zap GetFullPath in favor of matlab's which.  it's more general, and probably all around better.  not sure what i was thinking before
add option to create state constraints which depend on a subset of the state vector
fix argument processing error in RigidBodyThrust which was invalidating urdf-specified thrust limits
don't construct utape unless it's requested
re-enabled lcmgl in quadrotor
added rate transition block to enable low-rate mpc planners generating continuous time output
added rate transition block to enable low-rate mpc planners generating continuous time output
reconstructTrajectories should output utraj first, then xtraj
got sample times working properly for rate transition block
fix footstep transforms to origin frame
Merge pull request #218 from rdeits/rd-fix-footstep-frames

Fix footstep frames
new prereq logic
Add .vtm files for Atlas meshes.
Add .vtp files for Atlas model.

I've kept the same directory structure that we have in the DRC repo. If there's
a cleaner way to organize the 'meshes' directory, I'm all for it.
Merge pull request #221 from avalenzu/add-atlas-textures

Add Atlas textures