Cannot compile #90

Hi Robin,

Thanks for your great work of IRIS. Recently, I am trying to apply it in my research, but unfortunately, the code cannot be compiled for the same issue https://github.com/rdeits/iris-distro/issues/89. I know that drake has already include IRIS, but your example code was not in their tutorial. Can you please help to get them work or write a tutorial there? That will be very promising for the other researchers to apply your method.

Thanks and regards,

Chen