checkTrajectory and contactCheckProgram are basically duplicates

[rjoomen]

tesseract_environment::checkTrajectory and tesseract_planning::contactCheckProgram are almost complete duplicates, as far as I can see.

I suggest removing contactCheckProgram, as this uses checkTrajectoryState, just as checkTrajectory does, which are both in tesseract_environment.

[rjoomen]

Also contactCheckProgram is not unit tested, whereas checkTrajectory is.

[Levi-Armstrong]

My preference would be to remove the check trajectory and keep the contact check program. The Trajectory was mostly part of the early stages of Tesseract and I would say it is now replaced by the Composite Instruction and probably be removed or deprecated. @marip8 and @rjoomen What are your thoughts?