cmakefile merge from hongkaidev/ik + fixes from andres/pat. doesn't build yet with cmake
cmakefile merge from hongkaidev/ik + fixes from andres/pat.
doesn't build yet with cmake

git-svn-id: cf55bc44fb097054a32fc70455a459c940dbbffc@7367 c9849af7-e679-4ec6-a44e-fc146a885bd3

astrorog/drake,psiorx/drake,scottviteri/drake,sheim/drake,hanssusilo/drake,sheim/drake,scottviteri/drake,tkoolen/drake,crogers3/drake,astrorog/drake,billhoffman/drake,billhoffman/drake,crogers3/drake,manuelli/drake,hanssusilo/drake,billhoffman/drake,scottviteri/drake,sheim/drake,sheim/drake,hanssusilo/drake,hanssusilo/drake,hanssusilo/drake,psiorx/drake,crogers3/drake,crogers3/drake,tkoolen/drake,billhoffman/drake,crogers3/drake,tkoolen/drake,tkoolen/drake,astrorog/drake,scottviteri/drake,psiorx/drake,thientu/drake,sheim/drake,manuelli/drake,sheim/drake,hanssusilo/drake,tkoolen/drake,billhoffman/drake,edowson/drake,edowson/drake,scottviteri/drake,tkoolen/drake,hanssusilo/drake,manuelli/drake,edowson/drake,astrorog/drake,thientu/drake,thientu/drake,thientu/drake,edowson/drake,thientu/drake,billhoffman/drake,edowson/drake,manuelli/drake,crogers3/drake,astrorog/drake,billhoffman/drake,psiorx/drake,edowson/drake,crogers3/drake,psiorx/drake,manuelli/drake,scottviteri/drake,psiorx/drake,billhoffman/drake,scottviteri/drake,psiorx/drake,sheim/drake,astrorog/drake,manuelli/drake,astrorog/drake,edowson/drake,hanssusilo/drake,crogers3/drake,thientu/drake,sheim/drake,edowson/drake,manuelli/drake,tkoolen/drake,thientu/drake,psiorx/drake