feat($route): express style route matching

Added new route matching capabilities:
  - optional param
Changed route matching syntax:
 - named wildcard

BREAKING CHANGE: the syntax for named wildcard parameters in routes
    has changed from *wildcard to :wildcard*

    To migrate the code, follow the example below.  Here, *highlight becomes
    :highlight*:

    Before:

    $routeProvider.when('/Book1/:book/Chapter/:chapter/*highlight/edit',
              {controller: noop, templateUrl: 'Chapter.html'});

    After:

    $routeProvider.when('/Book1/:book/Chapter/:chapter/:highlight*/edit',
            {controller: noop, templateUrl: 'Chapter.html'});