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enables multi-model support in the URDF parser. Added unit test RigidBodyTreeTest/TestFindModelInstanceBodies.\r\n\r\n<!-- Reviewable:start -->\r\n---\r\nThis change is [<img src=\"https://reviewable.io/review_button.svg\" height=\"34\" align=\"absmiddle\" alt=\"Reviewable\"/>](https://reviewable.io/reviews/robotlocomotion/drake/3157)\r\n<!-- Reviewable:end -->\r\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/240550287","html_url":"https://github.com/RobotLocomotion/drake/pull/3157#issuecomment-240550287","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/3157","id":240550287,"user":{"login":"amcastro-tri","id":17601461,"avatar_url":"https://avatars.githubusercontent.com/u/17601461?v=3","gravatar_id":"","url":"https://api.github.com/users/amcastro-tri","html_url":"https://github.com/amcastro-tri","followers_url":"https://api.github.com/users/amcastro-tri/followers","following_url":"https://api.github.com/users/amcastro-tri/following{/other_user}","gists_url":"https://api.github.com/users/amcastro-tri/gists{/gist_id}","starred_url":"https://api.github.com/users/amcastro-tri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/amcastro-tri/subscriptions","organizations_url":"https://api.github.com/users/amcastro-tri/orgs","repos_url":"https://api.github.com/users/amcastro-tri/repos","events_url":"https://api.github.com/users/amcastro-tri/events{/privacy}","received_events_url":"https://api.github.com/users/amcastro-tri/received_events","type":"User","site_admin":false},"created_at":"2016-08-17T21:13:12Z","updated_at":"2016-08-17T21:13:12Z","body":"\n\n\n\nReview status: 31 of 39 files reviewed at latest revision, 7 unresolved discussions, some commit checks failed.\n\n---\n\n*[drake/systems/plants/RigidBodySystem.h, line 193 \\[r5\\]](https://reviewable.io:443/reviews/robotlocomotion/drake/3157#-KPNp4BYoTccufCKk0VJ:-KPPIg1ejItu0oMmsU4N:b-6uvpf5) ([raw file](https://github.com/robotlocomotion/drake/blob/d44bf595e63ebfc14900fcda3575b5fc3f95919d/drake/systems/plants/RigidBodySystem.h#L193)):*\n> The fact that the URDF takes the form of a string data type should already be clear from the method's signature.\n\n and so why do we prefix the methods above with the word \"File\", like in `AddModelInstanceFromUrdfFile()` (I am actually ok with this name).\n\n> data type should already be clear from the method's signature.\n\n that is not true when both `AddModelInstanceFromUrdfFile()` and `AddModelInstanceFromUrdfDescription()` take a string as an argument. However one reads from a file and the other one from the string itself (and that is why I like post-fixing the method name with `String` as it was before).\n\n> Likewise, the following methods have a parameter  named \"description\".\n\nProbably because that parameter should be called `urdf_string`? or something like that?\n\n---\n\n*[drake/systems/plants/test/testIKMoreConstraints.cpp, line 26 \\[r5\\]](https://reviewable.io:443/reviews/robotlocomotion/drake/3157#-KPNuMczWC9JdbPOGZf1:-KPPKg5nskwXGb4HcSn0:b-gakn4o) ([raw file](https://github.com/robotlocomotion/drake/blob/d44bf595e63ebfc14900fcda3575b5fc3f95919d/drake/systems/plants/test/testIKMoreConstraints.cpp#L26)):*\n<details><summary><i>Previously, liangfok (Chien-Liang Fok) wrote…</i></summary>\n> I studied the code, understand it, added documentation, and changed variable `joint_parent_body` to be `joint_child_body`.\n</details>\nExcellent! thank you!\n\n---\n\n*[ros/drake_cars_examples/package.xml, line 34 \\[r5\\]](https://reviewable.io:443/reviews/robotlocomotion/drake/3157#-KPNqPoeclGcnq775_z7:-KPPKpi0mptQ2jVDQ1U2:b4l4do8) ([raw file](https://github.com/robotlocomotion/drake/blob/d44bf595e63ebfc14900fcda3575b5fc3f95919d/ros/drake_cars_examples/package.xml#L34)):*\n<details><summary><i>Previously, liangfok (Chien-Liang Fok) wrote…</i></summary>\n> Yeah, I don't see how the ROS changes hurt since they are additions rather than modifications and are definitely needed in #3103. Would you refer that I remove them from this PR?\n</details>\nYes. I would just add them there trying to keep the PR to a minimum. Just scanning through those files takes some mental effort to the reviewer and more than that it takes mental effort to understand why they are there (which now I realize they are unrelated to this PR)\n\n---\n\n\n*Comments from [Reviewable](https://reviewable.io:443/reviews/robotlocomotion/drake/3157)*\n<!-- Sent from Reviewable.io -->\n"}}
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