Adds testTaskSpaceRRT.
Adds testTaskSpaceRRT.

This is the "extract board" demo. The code is a bit messy, as it was built off
of auto-generated code from the drc-director

hanssusilo/drake,thientu/drake,crogers3/drake,hanssusilo/drake,edowson/drake,sheim/drake,crogers3/drake,tkoolen/drake,hanssusilo/drake,sheim/drake,hanssusilo/drake,scottviteri/drake,scottviteri/drake,psiorx/drake,thientu/drake,psiorx/drake,astrorog/drake,crogers3/drake,tkoolen/drake,crogers3/drake,thientu/drake,billhoffman/drake,billhoffman/drake,scottviteri/drake,crogers3/drake,edowson/drake,thientu/drake,edowson/drake,astrorog/drake,edowson/drake,edowson/drake,manuelli/drake,psiorx/drake,astrorog/drake,psiorx/drake,manuelli/drake,billhoffman/drake,psiorx/drake,sheim/drake,astrorog/drake,hanssusilo/drake,billhoffman/drake,billhoffman/drake,thientu/drake,thientu/drake,scottviteri/drake,scottviteri/drake,manuelli/drake,scottviteri/drake,sheim/drake,astrorog/drake,sheim/drake,hanssusilo/drake,psiorx/drake,crogers3/drake,astrorog/drake,manuelli/drake,manuelli/drake,tkoolen/drake,psiorx/drake,thientu/drake,hanssusilo/drake,crogers3/drake,tkoolen/drake,scottviteri/drake,tkoolen/drake,sheim/drake,tkoolen/drake,billhoffman/drake,sheim/drake,edowson/drake,crogers3/drake,edowson/drake,billhoffman/drake,psiorx/drake,manuelli/drake,edowson/drake,hanssusilo/drake,tkoolen/drake,manuelli/drake,billhoffman/drake,sheim/drake,astrorog/drake