HybridTrajectoryOptimization and minor updates

Added HybridTrajectoryOptimization and Compass Gait example. Minor changes to ContactImplicitTrajectoryOptimization, particularly the initialization of slack variables.
but that’s not the case, either.  if you get here, it wasn’t compiled yet.  and compiling it now will get the most recent changes, right?

On Aug 28, 2014, at 10:57 AM, Michael Posa <notifications@github.com> wrote:

> In solvers/trajectoryOptimization/HybridTrajectoryOptimization.m:
> 
> > +        df = dg(:,2:end);
> > +      end
> > +    end
> > +    
> > +    function [xtraj,utraj,z,F,info] = solveTraj(obj,t_init,traj_init)
> > +      % Solve the nonlinear program and return resulting trajectory
> > +      % @param t_init initial timespan for solution.  can be a vector of
> > +      % length obj.N specifying the times of each segment, or a scalar
> > +      % indicating the final time.
> > +      % @param traj_init (optional) a structure containing Trajectory
> > +      % objects specifying the initial guess for the system inputs
> > +      %    traj_init.u , traj_init.x, ...
> > +      % @default small random numbers
> > +      
> > +      if ~obj.is_compiled
> > +        warning('HybridTrajectoryOptimization is not compiled, doing so now, but previous references will be stale');
> I could rephrase, but the point is that the pre-compiled obj will not be directly associated with the solution from the solve call.
> 
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