Added HybridTrajectoryOptimization, with minor updates to DirectTrajectoryOptimization. Added example using this to the Compass Gait.
Added slack variable initialization to ContactImplicitTrajOpt.
Minor update.
Working commit.
Working hybrid commit.
Merge branch 'scott-github/spring-flamingo-trajstab'

Conflicts:
	examples/Atlas/runTrajOpt.m
	examples/Atlas/runTrajStabilizationPassiveAnkle.m