Added full Lyapunov parameterization to funnel computation code. Updated glider example files.
changed urdf file to match glider plant
made minor commenting updates to funnel code
corrected air density
aadded input to gradients
Add 'setBounds' method to Constraint, fix the input check in Constraint class
add the test for 'setBounds' in Constraint class
delete NonlinearProgramWConstraintObjects, move its content to NonlinearProgram
Add IPOPT support to NonlinearProgram
revise the NonlinearProgram, such that the objective and constraints only compute the gradient when they have to.
Remove 'addSlackVariables' in CompositeConstraint, this can cause confusion if we addSlackVariable and then add constraints, as the old constraints and the newly added constraints are for different set of variables.
move 'infeasible_constraint' to NonlinearProgram from InverseKinematics
Fixes for NonlinearProgram after run make test
Fix the occasionally failure of testKinCnst, this is because resize in Eigen does not set the value to zero. So the constraint value can be garbage occasionally
drakeUtil depends on eigen
Merge pull request #328 from hongkai-dai/fixTestKinCnst

fix testKinCnst error
add known issue
Merge branch 'master' of https://github.com/RobotLocomotion/drake
Made rng seed in contactSensorTest constant.
Got rid of some SecondOrderSystem calls.