adding drakeGradientUtil.
Profiled and optimized transposeGrad.
Added matGradMultMat using unsupported KroneckerProduct as a baseline for profiling.
matGradMultMat improvements.
added normalizeVec with gradient and second derivative.
getSubMatrixGradient.
setSubMatrixGradient.
Better templating for normalizeVec.
constexpr's instead of macros. Made a GradientType struct to allow for automatic gradient type definitions.
Implemented dHomogTrans. Will move it to drakeGeometryUtil later.
dHomogTransInv.
dTransformAdjoint, dTransformAdjointTranspose.
uniformlyRandomQuat fixes.
Moved geometry related methods in drakeGradientUtil to drakeGeometryUtil. Split up definition and declaration. Explicit instantiations.
Fixed subtle bug in dHomogTransInv.
Extracted out testUtil.h
Added Matlab comparison for geometry gradient utils. Caught a bug this way.
Got rid of an include.
testDrakeGradientUtil Ctest
change static constexpr inside struct to constexpr outside struct to please gcc