Fix cost in CDFKP

We were missing a factor of dt in the costs. This commit fixes that for all the
costs terms except the L2 norm of the contact forces.
Modify generateInterpolatedMDC to hold magnitude

Prior to this commit, adding additional interpolation points increased the
overall magnitude of the returned penalty. Now the returned penalty is the
average over all of the interpolation points.
Use addContactShape in replaceContactShapesWithCHull
WIP on testRunning
Add active_collision_options arg to MinDistanceConstraint
Convenience fxns from RussTedrake/floatingBase
Fixes after rebase
FunctionHandleConstraint/setEvalHandle constructs new object

Re-assigning the eval_handle property causes the object to be very slow to
concatenate with other constraints in a cell array.
Move Humanoids 2014 examples to dev.

Some of them should move into examples/Atlas, but for now they really
aren't unit tests.
Add getBodyOrFrameName member fun to C++ RBM
Allow all C++ RBConstraints to handle frames
Re-enable mex in constraints that accept frames
Add frame support to all RigidBodyConstraints

Standardizes naming for constraints refering to two bodies.
Fixes Point2PointDistanceConstraint so that it uses body idx 1 for the world.
Make MultipleTimeKC/generateConstraint work

... with either a time vector or a number of knot points as input.
Fix Point2PointDistance constraint in testKinCnst
Add active_collision_options input to ABCDC

Also make MinDistanceConstraint take active_collision_options before tspan and fix testKinCnst.
Fix constant variable removal in NonlinearProgram.

Problems with no fixed variables had their linear constraints set to empty
which caused SNOPT to exit with info 91.
Use central diff for num. grad in testGetCMMdA
Update generateConstraint calls.
Add testRunningPlanner to examples/Atlas/test