Renamed TrajectoryOptimization to DirectTrajectoryOptimization.
Renamed TrajectoryOptimization to DirectTrajectoryOptimization. Added x-dimension check when constraints are added.
Removed some unnecessary code.
Moved trajectory optimization directory to solvers/trajectoryOptimization.
Added trajectoryOptimizatinon directory to the path.
Bug fix related to multiple arguments for constraints.
Moved acrobot traj opt test to test directory.
Added comments.
Fixes from Hongkai's comments.
Bug fix caught by build server related to LinearConstraints as costs.
Added a test case for multi-input constraints and costs.
Added DirtranTrajectorOptimization as a combination of FE/BE/Midpoint. Not really sure that I like it, however, since it's noticabely harder to make sense of.
Added shared data to NonlinearProgramWConstraintObjects, and incorporated into Dircol. Changes to Dircol/Dirtran to improve speed. Minor other bug fixes and changes to Acrobot test.
Documentation updates.
Update to how shared data functions work. Added (seemingly useless) FunctionWrapper class because calling the function handles themselves increased the Acrobot example runtime from 8 to 66 seconds.