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>
found a unit test that wasn't actually running.  (also had to fix the test, which was failing once it ran)
Merge branch 'master' of https://github.com/RobotLocomotion/drake
Merge pull request #276 from tkoolen/drakeGeometryUtil-additions

Drake geometry util additions
moved code style guide over to github wiki
Merge branch 'master' of https://github.com/RobotLocomotion/drake
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