Torque feasible running for ten steps!

To reproduce run:

```
>> addpath_control
>> cd(fullfile(getDrakePath(),'examples','Atlas','test');
>> options = struct();
>> [sol,r,v,prog] = testRunningPlanner([],1,100,[],options);

In a separate MATLAB instance (to prevent cross-contamination of Atlas
classdefs) run
>> addpath_drake
>> cd(fullfile(getDrakePath(),'examples','Atlas');
>> runAtlasRunning
Bring testRunningPlanner and runAtlasRunning back towards vanilla.
Make JointTorques match CDFKP integration scheme better
Update FDFKP integration scheme