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. 

One potential issue here is that `infeasibleConstraintName` modifies the `info` value returned by the solver - the current implementation checks the max constraint violation against tolerances that are hard-coded for inverse kin. @hongkai-dai, what would you think about replacing those hard-code tolerances with the SNOPT major feasibility tolerance?