Gradient function updates:
* {get,set}SubMatrixGradient can now handle non-contiguous rows and cols
* improved matGradMult for empty inputs
* added quadFormGrad + test
Added second derivative to normalizeVec.
Various gradient related functions.
Variable renames.
RBM utility functions.
jointQdotTov, jointVToqdot
testDHomogTransInv.
testDTransformAdjointTranspose
remove uniformlyRandomAxisAngle copy in util/test
Fixes after method rename.
Moved and improved motionSubspace and motionSubspaceDotTimesV tests.
Disabled testInertiasInWorldFrame for now because inertiasInWorldFrame relies on a different format of dTdq in kinsol.
Rename part 1/2.
Rename part 2/2.
Added comments.
QdotTov --> Qdot2v, VToqdot --> V2qdot
Rename.
Comments.
Moved getRandomConfiguration to test for now.
Merge pull request #279 from tkoolen/various-utilities

Various utilities