DrakeGradientUtil, DrakeGeometryUtil, DrakeJoint, and RigidBodyManipulator.geometricJacobian on Windows

Pull requests makes it so that DrakeGradientUtil, DrakeGeometryUtil, DrakeJoint, and RigidBodyManipulator.geometricJacobian compile on windows (issue #403).

The Eigen branch compiles on my machine on Win64 and OSX. Also, testGeometricJacobian passes including the comparison to mex on both Windows and OSX. The mex for geometricJacobian uses DrakeJoints underneath, so that's a good sign.