actually call reconstructTrajectory from DirectTrajectoryOptimization
convert pendulum swingup to new trajectory optimization interface.  add some documentation.  allow slightly more flexible inputs to solveTraj
util function for parsing input options.
converted quadrotor dircol example to new trajectory optimization class
converted Acrobot swingup example to new trajectory optimization classes.
revert to michael's traj_init syntax (though i don't love it)
remove defunct addpath to systems/plants/trajOpt
Merge pull request #211 from RussTedrake/port_traj_opt_examples

Ports a first handful of trajectory optimization examples over to the new DirectTrajectoryOptimization classes