Add Constraint class to be used for Drake solver. Currently Support NonlinearConstraint and LinearConstraint. Each constraint has bounds on decision variables and bounds on constraint eval function
Fix the documentation for geval that we support 'user_then_numerical'
LinearConstraint was in the wrong folder
add 'addNonlinearConstraint' to NonlinearProgramWConstraint, also overload its nonlinearConstraints method.
Add addLinearConstraint to NonlinearProgramWConstraint