I think you are all over engineering..
$('.navbar-collapse ul li a').click(function(){
$('.navbar-toggle:visible').click();
});
EDIT: To take care of sub menus, make sure their toggle anchor has the dropdown-toggle class on it.
$(function () {
$('.navbar-collapse ul li a:not(.dropdown-toggle)').click(function () {
$('.navbar-toggle:visible').click();
});
});
EDIT 2: Add support for phone touch.
$(function () {
$('.navbar-collapse ul li a:not(.dropdown-toggle)').bind('click touchstart', function () {
$('.navbar-toggle:visible').click();
});
});