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Rb system get rigid body tree#2

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amcastro-tri wants to merge 4 commits intomasteramcastro-tri/drake:masterfrom RBSystem_GetRigidBodyTreeamcastro-tri/drake:RBSystem_GetRigidBodyTreeCopy head branch name to clipboard

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Commits on Apr 21, 2016

• Implemented method get_rigid_body_tree

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• Implemented accessors RigidBodyTree::get_body(int index)

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• Changed BotVisualizer::tree to raw pointer type (non-owned)

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• Updated Cars example to use RigidBodySystem::get_rigid_body_tree()

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