cleanup trajectory optimization examples (now everything uses the new interface)

to be included in drake v 0.9.7
What's the reasoning behind swapping xtraj and utraj? This is one of those changes that will prove incredibly annoying for some time, as various branches and example code (for instance, the code we just handed out to the class) will have to be brought into line. In my mind, there's no win to be had, since neither way is more intuitive for users.

I saw the commit message, and while it's true that you might want utraj and not xtraj, this nearly never happens in practice and doesn't seem like it's important enough to warrant this change.