Adds Energy Cost to KinematicTrajectoryOptimization

[cohnt]

Implements a cost to minimize the energy of a trajectory. The global optimum of this cost is equivalent to the optimum for path length, in the limit of infinitely many control points, and it has the benefit of yielding a convex quadratic objective (which is much easier for optimizers to handle). See here for further discussion.

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This change is 

[cohnt]

Note that this doesn't currently work with OSQP or Mosek, due to #21579. It does pass with Gurobi.

@drake-jenkins-bot linux-jammy-clang-bazel-experimental-gurobi-release please

[cohnt]

@drake-jenkins-bot linux-jammy-clang-bazel-experimental-gurobi-release please

[jwnimmer-tri]

Wasn't sure who would make sense as a feature reviewer, so I left it empty. In the future, should I post on Drake Developers to ask for a reviewer if I'm unsure? Thanks Russ for taking it!

(1) The primary purpose of the ping message from the platform reviewer is to make sure nothing gets left behind accidentally. It's fine to move at whatever pace works best for you.

(2) As a PR author, the things you can do to help steer a PR:

• Be clear whether or not the PR is ready for a feature reviewer. If not ready, the "do not review" tag can be used to communicate that.
• Be clear whether you already have a reviewer in mind (or plan to talk to your friends to find one), or whether you'd like the Drake team to choose a reviewer.

So for example if a PR is ready for review, but you don't have anyone chosen to review it, you can post a message to that effect on the PR and the Drake team will take it from there (often, yes, by posting to slack to see who's around).

[cohnt]

@drake-jenkins-bot mac-arm-ventura-clang-bazel-experimental-release please

[xuchenhan-tri]

+(status: squashing now)