Fix typos in parseBodyOrFrameID
Fixes for RelativeQuaternion.

Make frameA/B property names match RelativePosition. Also check for empty
frames in kinematicPathJoints.
Fix x_cell size in evalContainedFunctions.

This was missed when modifying the class for nested MultiCoordinateFrames.
Add testParseBodyOrFrameID
Merge pull request #352 from avalenzu/drake-function

Bug fixes from playing with DrakeFunctions