Personally, I would go with the second option:
courses/togaf/foundation-training
Mainly because it looks a lot neater and you don't really need to mention 'togaf' twice in the URL.
Really you should try to keep your URLs as neat and user friendly as possible whilst keeping the relevant keywords. I generally try to keep them as short as possible without sacrificing essential keywords and pay no attention to the advice about keeping the length of your URL to 35 characters because google only displays 35, this is incorrect.
Hope that helps,
Adam.