Added backward/forward/midpoint options to traj opt w/contact.
Added case 15 to snoptInfo.
removing obsolete atlas control modules
adding new atlas control component classes
adding controller data handle classes for sharing data between control modules. better than shared data handles because you can clearly describe what fields are necessary and optional
updated QPController class in both matlab and c++: removes atlas-specific code, supports angular momentum as an option, supports body acceleration inputs as constraints or costs
updating atlas balancing example
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
renamed controlUtil.h, moved templates and function implementations to cpp file
fix argument processing error in RigidBodyThrust which was invalidating urdf-specified thrust limits
don't construct utape unless it's requested
adding missing documentation
re-enabled lcmgl in quadrotor
Fix missing ti update in inverseKinBackend.m

`ti` was not being updated when parsing `PostureConstraints`