fix for grad with pos control and test
Added backward/forward/midpoint options to traj opt w/contact.
Added case 15 to snoptInfo.
Merge branch 'drake-origin/master'
octomap wrapper works for simple example
first pass at typing in octree writer system
RigidBodyDepthCamera -> RigidBodyDepthSensor
initial lcmgl code is in (but not tested)
octree lcmgl works (but is certainly not optimized)
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
minor footstep tweaks
Improve step trimming to fix poor behavior when final steps are far apart
much better trimming, with auto leading foot selection and better performance
Round off trim variable to make sure we convert it to logical correctly
Trimmed footsteps don't need to be assigned to a region
better colors
pass cos and sin approx out for debugging
MIQCQP with trim enabled in pure gurobi matlab working well