variable renames.
dTransformAdjoint, dTransformAdjointTranspose.
GradientVar.
GradientVar.
GradientVar. Added block methods. Not 100% happy with current implementation, because block returns a GradientVar with a writable reference to the matrix, while the gradient is a copy.
GradientVar self assignment check in operator=.
More GradientVar stuff.
Added make_unique. Added std::unique_ptr<DrakeJoint> to RigidBody. Changed bodies vector in RigidBodyManipulator to a vector<unique_ptr<RigidBody>> to get rid of implicit calls to RigidBody copy constructor.
started working on drakeGeometryUtil, RollPitchYawFloatingJoint.
More work on drakeGeometryUtil.