Merging in Humanoids 2014 work

We should still move more of our examples out of `solvers/trajectoryOptimization/dev` into `examples/Atlas` (and the one that has been moved - `testRunningPlanner` - should be simplified), but all the functionality works, so I'd like to get this merged in prior to doing that. 

Agreed. I'm going to zap this version of the Kinematic planner. We can insert it above SimpleDynamicsFullKinematicsPlanner in the hierarchy later.