add regexp to detect url, this fix using state params in futureState
fix(): allow regexp matching in urlPrefix
Merge branch 'ssleptsov-dev'
fix($futureState): use UrlMatcher for future url

- BREAKING CHANGE: use FutureState.name instead of FutureState.stateName to be consistent with UI-Router (backwards compat attempted, but not guaranteed)
- BREAKING CHANGE: use FutureState.url instead of FutureState.urlPrefix to be consistent with UI-Router (backwards compat attempted, but not guaranteed)
- FutureState.url is now processed using UI-Router's UrlMatcher code.
- FutureState.url is concat'd with the parent state's url to create the UrlMatcher/regexp.
- FutureState.url has a wildcard added to the end to match anything extra (.*)
- Changed example iframe factory to use .name and .url and .parent
- internalStates map now gets root internal state

Fixes #54
Closes #82 (PR)