Merge pull request #341 from avalenzu/drake-function

Drake function
update unitTest.m to support matlab packages/namespaces
remove extra folder
more docs
Merge pull request #346 from rdeits/rd-unittest-fix

unitTest package support
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.