HybridTrajectoryOptimization and minor updates

Added HybridTrajectoryOptimization and Compass Gait example. Minor changes to ContactImplicitTrajectoryOptimization, particularly the initialization of slack variables.
ok

On Aug 28, 2014, at 11:57 AM, Michael Posa <notifications@github.com> wrote:

> In solvers/trajectoryOptimization/NonlinearComplementarityConstraint.m:
> 
> > @@ -97,6 +101,14 @@
> >        end
> >        
> >        obj = obj@CompositeConstraint(constraints, n);
> > +      
> > +      switch mode
> > +        case 1
> > +        case 2
> > +          obj.slack_fun = fun;
> No, it's not the same. This is in NonlinearComplementarityConstraint which is a general purpose class, mode is the option choice for how to model the NC constraint. There are other ways to treat these (that do use slack variables) that I haven't included, but could be added later.
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