Merge pull request #4 from rgleichman/dev

Updated readme with h5py instillation instructions
Add _has_cuda variable to gpu files and raise exception upon instantiation of gpu classes.
Merge branch 'dev' of github.com:dhadfieldmenell/lfd into dev
Forgot to add some _has_cuda checks.
Move _has_cuda-dependent statements to inside function/object creation.
Removed recording-related classes and files, to be fixed on the george branch later
Add balance_matrix4 that doesn't normalize prior rows and columns
Merge branch 'master' into dev
Add doc files
Fix math in docstrings and fix docstring style to conform to google style in registration.
Have doc config work with earlier versions of sphinx napoleon
Make doc config require sphinx 1.3
Add script to upload doc build
Update README to point to online doc
Change the doc theme to rtd. Add inheritance graphs. Move the module section to the top. Improve some docs in registration.