testDHomogTransInv.
testDTransformAdjointTranspose
remove uniformlyRandomAxisAngle copy in util/test
resolves stupid typo in knownIssue
Fixes after method rename.
fixed some obvious bugs in unilateralConstraint gradients to make the new resolveConstraints work.  can't believe we didn't hit those before
Moved and improved motionSubspace and motionSubspaceDotTimesV tests.
Disabled testInertiasInWorldFrame for now because inertiasInWorldFrame relies on a different format of dTdq in kinsol.
Rename part 1/2.
Rename part 2/2.
Added comments.
QdotTov --> Qdot2v, VToqdot --> V2qdot
Rename.
Comments.
Moved getRandomConfiguration to test for now.
Don't transform mesh collision elements twice.
print out random seed information before the test, so that it's still available if the test causes matlab to crash
Merge pull request #279 from tkoolen/various-utilities

Various utilities
Merge pull request #282 from avalenzu/fix-collision-mesh-transforms

Don't transform mesh collision elements twice.
adding drakeGradientUtil.