Various utilities

* new utilities related to quaternion floating base parameterization / difference between qdot and v
* gradient output for various utility functions
* gradient utilities
* snuck in a code formatting fix for findKinematicPath

An all-Matlab pull request adding various utility functions that shouldn't change any of the current functionality. The only exception is a matGradMultMat fix when the input is an empty matrix.
Sounds good

- Russ


> On Aug 10, 2014, at 11:21 AM, Twan Koolen <notifications@github.com> wrote:
> 
> In systems/plants/@RigidBodyManipulator/getRandomConfiguration.m:
> 
> > @@ -0,0 +1,40 @@
> > +function q = getRandomConfiguration(obj)
> > +% Generates a random configuration vector
> > +%
> > +% @ retval q random configuration vector that satisfies the state
> > +% constraints of the robot. For one-dof joints with joint limits, a
> I don't want to get hung up on this right now, so I'm going to move this method to systems/plants/test and adding a %NOTEST.
> 
> —
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