switching testContactGrad test to use numerical.  but it still fails (occasionally).  added more debugging tools to help; it looks like the problem might be real
shouldn't have checked in the gradTest (not good for the build server)
fix getInitialState logic bug found by michael
grep found a lot of places where we were handling the state constraint case but not handling the unilateral constraint case.  added errors where appropriate
fix typo
another unilateral constraint check
adding known issue
more known issues
resolved issue
resolves new unit test failures
Merge pull request #295 from RussTedrake/contactGrad

switching testContactGrad test to use numerical.  but it still fails (oc...