Bug fixes. Need to test with a more complex robot. Compile breaks with a second robot (addRobotFromURDF).
switching testContactGrad test to use numerical.  but it still fails (occasionally).  added more debugging tools to help; it looks like the problem might be real
shouldn't have checked in the gradTest (not good for the build server)
fix getInitialState logic bug found by michael
grep found a lot of places where we were handling the state constraint case but not handling the unilateral constraint case.  added errors where appropriate
fix typo
another unilateral constraint check
adding known issue
more known issues
resolved issue
resolves new unit test failures
force lcm-java classpath write to cache
quiet warnings
Merge pull request #295 from RussTedrake/contactGrad

switching testContactGrad test to use numerical.  but it still fails (oc...
Merge branch 'master' of https://github.com/RobotLocomotion/drake
quiets a warning and adds more known issues
quiet more warnings.  add known issue
using desired foot yaw as input to pelvis control block
use_mex=2 bug fix
Merge pull request #304 from kuindersma/pelvis-control-update

Pelvis control update for Atlas examples