Add 'sense' option for snopt in NonlinearProgram

Valid values are 'Minimize' (default), 'Maximize', and 'Feasible point'.
Add start_from_rest and end_from_rest to LeggedRobotPlanningProblem
Add excluded_collision_groups to LeggedRobotPlanningProblem
Use speye in MinDistanceConstraint/scaleDistance

This is much faster when the number of collision-pairs is large.
Modify default behavior of addRigidBodyConstraint

In SDFKP, the previous default behavior of addRigidBodyConstraint in the case
where the time_index was a numeric array, was to apply the constraint to each
knot individually:

```matlab
time_index = num2cell(reshape(time_index,1,[]));
```

This is a bad default for MultipleTimeKinematicConstraint which are meant to be
applied accross multiple knots. Now, if the constraint is a
MultipleTimeKinematicConstraint and time_index is a numeric vector, we apply
the constraint to all of the knots together:

```matlab
time_index = {reshape(time_index,1,[])};
```
Update KinTrajOptimization/addRigidBodyConstraint

Bring changes over from SDFKP in anticipation of making
KinematicTrajectoryOptimization a parent of SDFKP and removing the
addRigidBodyConstraint method from SDFKP.
Don't constrain more than 3 points in addSupportOnFlatGround
Homogenize LeggedRobPlanProb generate methods

Now generateComDynamicsFullKinematicsPlanner and generateQuasiStaticPlanner can
work with the same input arguments.
zaps lcmgl code and removes error for rpy but does not test rpy yet.
Merge branch 'aeroinspector' of github.com:blandry/drake into control_surface
add a 'deleteNonlinearConstraint' function to NonlinearProgram
add the first test case for deleteNonlinearConstraint
Fixes bugs where the left edge position of control surfaces was not implemented correctly.
fixed discretization bug.  optimized a few simple things using the profiler
brought pendulum value iteration parameters over from old example.  (and added wrapping)
add more test cases to deleteNonlinearConstraint. add 'updateNonlinearConstraint'
add 'deleteLinearConstraint' to NonlinearProgram
added function handle visualizer and cleaned up xcubed example (to live in one file)
added grid world example
adding double integrator example