Trajectory Optimization

This is not really intended as "ready to accept," but I wanted to start the conversation on trajectory optimization. I added (what I hope is) a pretty flexible framework for direct methods for traj opt, along with some implementations for some first-order integration schemes and direct collocation. The code is far from being speed-optimized, and I think one of the important discussions should be on how to prevent repeated, unnecessary calculations, similar to what Hongkai has with kinsol for inverse kinematics. 

I also added a ConstraintManager class, which is just intended to be a general interface for combining multiple constraints into one. I think this would be a good approach to describe more complex constraints, like support polygons and complementarity constraints.
OK.  I don't understand what the ConstraintManager is doing (this explanation tentatively makes sense, but I see you using it in lots of places where I wouldn't expect).  could you perhaps help me understand it, and add the resulting discussion to the comments here?