Fix testActiveCollisionOptions ... again.
Merge pull request #453 from avalenzu/fix-testActiveCollisionOptions

Fix testActiveCollisionOptions ... again.
ported old lecture examples
update to spotsosprog
Merge pull request #456 from RussTedrake/lecture

sdp/sos lyapunov examples from lecture
Modifying binary search function in roa code to use mosek if installed.
Merge pull request #460 from anirudhamajumdar/master

Modifying binary search function in roa code to use mosek if installed.
found a documented replacement for the undocumented matlab call that broke on 2014b
had to update megaclear.  it looks like h(2:end) returns 1x0 empty Root array, which it returned just an empty matrix before
axis annotation is more strict about it's inputs.  another simple fix
Merge pull request #461 from RussTedrake/2014b

fixes to support 2014b
needed to update the inspector, too (not hit by a unit test).  and found that it was being called twice for most events, so just won a 2x speedup. :)
visualizer passes slider constraints to resolve constraints
check for symmetry was firing if inertias had parameters in them
fix background colors
add a helper function for QP cost to nonlinear prog.
working on replacing dynamical system constraint methods with the new constraint classes
working on replacing dynamical system constraint methods with the new constraint classes
acrobot lqr example works again
zapped UnsupportedJointLimits warning