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. 

Are we doing extra work in the kinematic planner if we have the inheritance this way?  I would have thought that perhaps SimpleDynamicsFullKinematicsPlanner < KinematicPlanner ?