add xx to all computeSpatialForce calls
Merge branch 'controlsurface' of https://github.com/RussTedrake/drake into controlsurface

Conflicts:
	systems/plants/RigidBodyWingWithControlSurface.m
update cmake
frames fix
clean up random initial conditions in momentumTest.  (not related to control surface, except in that it happened to hit the low-probability failure while i was testing other things)
update test for manipulatorDynamics input change
update manipulatorDynamics interface
incremental unfishined work on velocity controlled control surface