Drake geometry util additions

Added rotation conversion functions + test. Moved angleDiff to drakeGeometryUtil.
I like the name.  just thought the camelcase should be RPY.  (even though we use rpy everywhere else :-/ )
On Aug 9, 2014, at 2:58 PM, Twan Koolen <notifications@github.com> wrote:

> In util/drakeGeometryUtil.cpp:
> 
> > +  Vector4d a;
> > +  a << axis, angle;
> > +  return a;
> > +}
> > +
> > +Vector4d uniformlyRandomQuat(std::default_random_engine& generator)
> > +{
> > +  return axis2quat(uniformlyRandomAngleAxis(generator));
> > +}
> > +
> > +Eigen::Matrix3d uniformlyRandomRotmat(std::default_random_engine& generator)
> > +{
> > +  return axis2rotmat(uniformlyRandomAngleAxis(generator));
> > +}
> > +
> > +Eigen::Vector3d uniformlyRandomRpy(std::default_random_engine& generator)
> It's a uniformly random orientation, represented as rpy. This is not the same as 'randn(3, 1)'. What do you think would be a better name?
> 
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