Various utilities

* new utilities related to quaternion floating base parameterization / difference between qdot and v
* gradient output for various utility functions
* gradient utilities
* snuck in a code formatting fix for findKinematicPath

An all-Matlab pull request adding various utility functions that shouldn't change any of the current functionality. The only exception is a matGradMultMat fix when the input is an empty matrix.
angularvel -> angularVel (here and in other method names?).  for instance you have  `util/angularVel2RepresentationDotMatrix.m`.  need to pick one.