- implemented Open3DALIGN-like alignment functionality (from both
  C++ and Python)
- added relevant C++/Python tests
this passes all tests
- propagated the changes in the master branch to the O3A branch
Merge pull request #111 from ptosco/O3DAlign_29Sept2013

- propagated the changes in the master branch to the O3A branch
some small cleanups
Merge branch 'O3DAlign_29Sept2013'