Bring Existing dairlib code up to Google Style Guide Standards

[mshalm]

The current working condition of the dairlib codebase has various stylistic inconsistencies. In order to improve readability, all old code should be updated to conform with the Google Style Guide (https://google.github.io/styleguide/cppguide.html). Current assignment scheme is first authors of each file should bring their own code up to standard.