Fourth revision of Alex Brandmeyer's C++ implementation. Fixed more style issues, changed AGC structures to vectors, replaced FloatArray2d with vector<FloatArray>, implemented first tests using GTest to verify coefficients and monaural output against Matlab values (stored in aimc/carfac/test_data/). To run tests, change the path stored in carfac_test.h in TEST_SRC_DIR. Added CARFAC_GenerateTestData to the Matlab branch, fixed stage indexing in CARFAC_Cross_Couple.m to reflect changes in AGCCoeffs and AGCState structs.