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

to be included in drake v 0.9.7
that additional input already exists.  i just didn't clean it up.  i will now.

On Oct 12, 2014, at 4:25 PM, Andres Valenzuela <notifications@github.com> wrote:

> In examples/Glider/dev/runDircolPerchingURDF.m:
> 
> > @@ -16,29 +14,32 @@
> >  el_lo_limit = -.9473;
> >  el_up_limit = .4463;
> >  
> > -con.u.lb = p.umin;
> > -con.u.ub = p.umax;
> > -con.x.lb = [-inf,-inf,-inf,-inf,-pi/2,-inf,el_lo_limit, -inf,-inf,-inf,-inf,-inf,-inf,-inf]';
> > -con.x.ub = [inf,inf,inf,inf,pi/2,inf,el_up_limit, inf,inf,inf,inf,inf,inf,inf]';
> > -con.x0.lb = x0;
> > -con.x0.ub = x0;
> > -con.xf.lb = xf-[0.03,0.03,0.03,inf,pi/2,inf,inf, inf,inf,inf,inf,inf,inf,inf]';
> > -con.xf.ub = xf+[0.03,0.03,0.03,inf,pi/2,inf,inf, inf,inf,inf,inf,inf,inf,inf]';
> > -con.T.lb = .45;   
> > -con.T.ub = 1.5;
> > +prog = DircolTrajectoryOptimization(p,N,[.45 1.5]);
> > +
> > +prog = prog.addStateConstraint(BoundingBoxConstraint([-inf,-inf,-inf,-inf,-pi/2,-inf,el_lo_limit, -inf,-inf,-inf,-inf,-inf,-inf,-inf]',[inf,inf,inf,inf,pi/2,inf,el_up_limit, inf,inf,inf,inf,inf,inf,inf]'),1:N);
> Maybe we should add a third (optional) argument to addStateConstraint specifying which elements of the state to constrain. That way this line could look like:
> 
> prog = prog.addStateConstraint(BoundingBoxConstraint([-pi/2;el_lo_limit],[pi/2; el_up_limit]), 1:N, [5,7])
> —
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