1. Change InverseKin to InverseKinematics, InverseKinTraj to InverseKinematicsTrajectory.
2. Delete NonlinearProgramWKinsol
3. In InverseKinTraj, after getting solution from the nonlinear solver, zap the posture to be within the posture limits, to eliminate the numerical error.
move 'x_name' field up to NonlinearProgramWConstraintObjects
Merge pull request #214 from hongkai-dai/ChangeIKname

Change ik name