Merge pull request #6 from andybarry/quadrotorFun

Vectorizes raycasting code
Merge pull request #7 from andybarry/quadrotorFun

Documentation fix for raycasting.
updating cmake
typed in, but have not yet run (even once) updates to support depth cameras, vectorization, and running lcmgl only on demand
got lidar and depth cameras working with vectorized code.  raycasting is fast.  lcmgl is slow.  need to vectorize that part.
use vectorized lcmgl call in depth camera / lidar
move tests to dev dir until dH bug is fixed
fixed manipulator H matrix derivatives with floating bases.  resolves issue #165