Drake cli launcher improvements

Improvements:
1. Moved run.sh to bin/drake. So that user can just add $DRAKE_HOME/bin into their PATH
2. Modified launcher to detect whether the uberjar drake.jar is exist. If not it will compile it automatically.

After this pull request be accepted and merged into develop. I will also submit my pull request of homebrew to let Mac user can just use brew install drake to install drake.
https://github.com/agate/homebrew/commit/1e44ea52dcc54291733e07a86546d0685d93c70b