support error suppression in findJointInd to match implementation in findLinkInd.  add error in Point
fix int bug
add acceleration constraint gain as a parameter
add option to change foot contact logic
making u0 a required parameter. handling the S constant case. adding plan_shift property back in
fixed a couple missed changes
remove explicit second argument to work with constant trajs
better comments for foot contact changes
Merge pull request #251 from kuindersma/update-controller

Controller updates
Plumbing for active_collision_options.collision_groups
Add test for active collision options

Test collisions for only specific bodies/groups
Fix handling of default constructed `Body` objects.
Handle the active_collision_options.group properly

Now only elements in the groups listed will be checked for collisions.
Pass collision group names from MATLAB to mex
Fix constructModelmex for collision elem. w/o grps
Add robotnum arg to removeCollisionGroups[Except]

The default is 1:numel(model.name). This allows for backwards compatibility
with code that expects the terrain to be preserved.
Add LCMGLClient convenience function.

This runs checkDependency('lcmgl'), then creates and returns a BotLCMGLClient.
Add getCMMdA

This is a `geval`-compatible version of `getCMM`. I think it should end up
being called `getCMM`, but I don't want to go through and change all the
current uses of `getCMM` to `getCMMAdot` in the DRC codebase right now.
add the SimpleDynamicsFullKinematicsPlanner class
Modify some constraint classes for cached kinsol

In order to get the size of the gradients correct, we have to pass q as well as
kinsol into the constraint eval method. I've modified the generate constraint
method in QuasiStaticConstraint and SingleTimeKinamaticConstraint to take (and
ignore) that extra argument.