RobotLocomotion/drake — pull request #256 by avalenzu (2014-07-30 11:11:32+00:00)
Title: Merging in Humanoids 2014 work

We should still move more of our examples out of `solvers/trajectoryOptimization/dev` into `examples/Atlas` (and the one that has been moved - `testRunningPlanner` - should be simplified), but all the functionality works, so I'd like to get this merged in prior to doing that.