Add `allCollisions` method - fast collision checks
Re-ignore upper-leg collisions in atlas_chull.urdf
Add `allCollision` MATLAB RBM method
Fix comments for `allCollisions`
user gradients for force elements with tests
changing spring traj opt to old SNOPT interface
moving the old spring tests
updating HandCmex error messages
removing the backward euler constraint
updated to Jdot, organize tests like Russ asked and included a wing gradient test
fixing HandC.cpp
improving cpp version of bodyKin
adds c++ support for using the gurobi active set algorithm
Merge pull request #112 from kuindersma/add-gurobi-active-set

adds c++ support for using active sets with gurobi
Merge branch 'master' of https://github.com/RobotLocomotion/drake
Merge pull request #105 from avalenzu/allCollisions

Add `allCollisions` method for fast collision checks
Implement the MATLAB version of FootStepConstraint, will work on C++ implementation
Rename 'FootStepConstraint' to 'FootStepRegionConstraint'
Move the commits from drc sandbox to drake. Almost finished the P step of the bilinear alternation
P step is numerically correct. Need to add some kinematic constraint on the distance between CoM and the contact points, so that the contact position makes sense