Added some rotation representation conversion utility functions to drakeGeometryUtil.
Added testDrakeGeometryUtil.
Rotation conversion functions, moved angleDiff. Rotation conversion functions tested in testDrakeGeometryUtil.
4 --> 4.0
Method renames.
add_test
add_test syntax
Added Matlab versions of uniformly random orientation functions.
<exception> --> <stdexcept>
Merge pull request #276 from tkoolen/drakeGeometryUtil-additions

Drake geometry util additions