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Parameters of AcrobotPlant can now be assigned in constructor. \r\n2. Adds an executable that creates the swing up trajectory and displays it in DrakeVisualizer. \r\n\r\n@hongkai-dai for feature review.\n\n<!-- Reviewable:start -->\n---\nThis change is [<img src=\"https://reviewable.io/review_button.svg\" height=\"34\" align=\"absmiddle\" alt=\"Reviewable\"/>](https://reviewable.io/reviews/robotlocomotion/drake/5093)\n<!-- Reviewable:end -->\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/281531836","html_url":"https://github.com/RobotLocomotion/drake/pull/5093#issuecomment-281531836","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/5093","id":281531836,"user":{"login":"soonho-tri","id":20779767,"avatar_url":"https://avatars.githubusercontent.com/u/20779767?v=3","gravatar_id":"","url":"https://api.github.com/users/soonho-tri","html_url":"https://github.com/soonho-tri","followers_url":"https://api.github.com/users/soonho-tri/followers","following_url":"https://api.github.com/users/soonho-tri/following{/other_user}","gists_url":"https://api.github.com/users/soonho-tri/gists{/gist_id}","starred_url":"https://api.github.com/users/soonho-tri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/soonho-tri/subscriptions","organizations_url":"https://api.github.com/users/soonho-tri/orgs","repos_url":"https://api.github.com/users/soonho-tri/repos","events_url":"https://api.github.com/users/soonho-tri/events{/privacy}","received_events_url":"https://api.github.com/users/soonho-tri/received_events","type":"User","site_admin":false},"created_at":"2017-02-22T00:50:15Z","updated_at":"2017-02-22T00:50:15Z","body":"<img class=\"emoji\" title=\":lgtm:\" alt=\":lgtm:\" align=\"absmiddle\" src=\"https://reviewable.io/lgtm.png\" height=\"20\" width=\"61\"/>\n\n---\n\nReview status: all files reviewed at latest revision, 2 unresolved discussions.\n\n---\n\n\n\n*Comments from [Reviewable](https://reviewable.io:443/reviews/robotlocomotion/drake/5093#-:-KdYI-THEi1DNSvKwUgm:bnfp4nl)*\n<!-- Sent from Reviewable.io -->\n"}}
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