cleanup trajectory optimization examples (now everything uses the new interface)

to be included in drake v 0.9.7
We can set the `Major optimality tolerance` by calling 
```
prog = prog.addSolverOptions('snopt','MajorOptimalityTolerance`,1e-2);
```
Although I think 1e-2 is too large. Do you mean to set the tolerance to the default 1e-6 for this test?