Print SymPy Matrix to Theano

Depends on https://github.com/Theano/Theano/pull/1335

```Python
In [1]: t = Symbol('theta')

In [2]: X = Matrix([[cos(t), -sin(t)],
            [sin(t), cos(t)]])

In [3]: X
Out[3]: 
⎡cos(θ)  -sin(θ)⎤
⎢               ⎥
⎣sin(θ)  cos(θ) ⎦

In [4]: from sympy.printing.theanocode import *

In [5]: f = theano_function([t], [X])

In [6]: f(3.14)
Out[6]: 
 [[-0.99999875 -0.00159255]
 [ 0.00159255 -0.99999875]]
```