Merging in Humanoids 2014 work

We should still move more of our examples out of `solvers/trajectoryOptimization/dev` into `examples/Atlas` (and the one that has been moved - `testRunningPlanner` - should be simplified), but all the functionality works, so I'd like to get this merged in prior to doing that. 

I'll add comments on the relationship between `SimpleDynamicsFullKinematicsPlanner` and `COMDynamicsFullKinematicsPlanner`. 

There can't be a "winner" in this case, because `SimpleDynamicsFullKinematicsPlanner` is an abstract parent of `COMDynamicsFullKinematicsPlanner`. This leaves us the option of defining planners with different simple dynamics in the future.