Fixed some MSVC2010 errors in DrakeJoints and re-enabling compilation of DrakeJoints, stuff related to DrakeJoints in RigidBodyManipulator. Had to create drakeFloatingPointUtil since std::isinf and std::isfinite are not available on MSVC2010.
fixed * const vs * argument difference in DrakeJoint class hierarchy. Re-enabled geometricJacobian compilation on win32.