Kinematic planning

Adds `LeggedRobotPlanningProblem` which encodes a planning problem for an instance of any `LeggedRobot` class in a solver-agnostic way. It has methods to generate dynamic or quasi-static planners.

Also adds `KinematicDirtran`  - the oft-referred-to linearly-interpolated counterpart of `InverseKinematicTrajectory`.

This still needs more documentation and probably tests, but I'd like to get the build servers running.
I've also submitted a pull-request to mitdrc/drake, as this enables collision free reach planning.
Maybe tspan is the wrong name for this. It expresses the fraction of the
knot points for which the support is active. So if there are 11 knots and a
given support has tspan = [0.5,0.7], then that support is active for knots
5, 6, and 7, regardless of the timing of those knots.
On Sep 11, 2014 4:33 PM, "Hongkai Dai" <notifications@github.com> wrote:

> In solvers/LeggedRobotPlanningProblem.m:
>
> > @@ -0,0 +1,287 @@
> > +classdef LeggedRobotPlanningProblem
> > +  properties
> > +    robot
> > +    supports = struct('body',{},'pts',{},'tspan',{},'constraints',{})
>
> Why we use tspan here? I feel this is not robust if we are optimizing the
> time also
>
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> <https://github.com/RobotLocomotion/drake/pull/392/files#r17446848>.
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