[pull] master from RobotLocomotion:master #776
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When the MatrixBlock is Block3x3SparseMatrix, we now allow the blocks in the block diagonal to be of size 3n-by-3n instead of restricted to be 3x3.
It wastes about 15 seconds to compress the source tree every time, but the compression cannot be reused from one run to the next. Iterative local testing is much more pleasant without compressing, and there's no downside even for Jenkins builds.
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