rigid body visualizers should have the position frame as input (the state frame will automatically transform down to position if that is passed in, so it should not break backwards compatibility)
per the discussion at the triage meeting, we can count on the constraint eval function to use geval if and only when necessary, so we should be absolutely call positionConstriants, velocityConstraints, and stateConstraints on a manipulator without geval.

note: changed the default grad_method to 'user_then_taylorvar', which means that constraints must declare that they have gradient information to avoid hitting geval.  there might be some in the current examples that do not do this.
include package +test folders
Fix NonlinearProgram name in drakeFunction.euclidean.test
Fix drakeFunction.test.sumTest
Split drakeFunction.kinematic.relativePositionTest

Now using drakeFunction.kinematic.RelativePosition in a nonlinear program is
tested in it's own script. The NLP was hitting the iteration limits with
fmincon, so that test has checkDependency('snopt'). The test that just checks
the gradients of drakeFunction.kinematic.RelativePosition should run on any
system.
Merge pull request #2 from avalenzu/include-package-tests

drakeFunction tests should all pass now
cleaner process for matlab package tests (now compatible with ctest)
include cmake merge commit
default constraint grad_method is ''
Merge pull request #528 from rdeits/include-package-tests

include package +test folders
should not have had pause commands in a unit test
another pause. :(
handle empty grad_method
simple inspector for robotiq hand (to test performance of the four-bar constraint handling).
optimized a few pieces of related code (and fixed a bug in the visualizer logic)
Merge pull request #496 from RussTedrake/visualizer_frame

rigid body visualizers should have the position frame as input (the stat...
Merge branch 'geval_constraints' of https://github.com/RussTedrake/drake into RussTedrake-geval_constraints

Conflicts:
	examples/RimlessWheel/runDircol.m
Merge branch 'RussTedrake-geval_constraints'
Merge pull request #534 from RussTedrake/hand_inspector

simple inspector for robotiq hand
now only comparing to mex if mex file is available