Enable casting `unique_ptr` arguments and ownership transfer, #1237

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EricCousineau-TRI wants to merge 12 commits into

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EricCousineau-TRI:feature/unique_ptr_arg_pr1

Commits on Apr 23, 2018

deregister_instance_impl: Fix #1238
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Explicitly connect smart pointers and holders in the documentation.
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cast: Clarify existing naming.
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Simplify predicate logic for `detail::move_always`, `detail::move_if_unreferenced`, and ensure that unqiue_ptr<T> is accommodated.
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Ensure that perfect forwarding is observed in cpp_function lambda wrappers.
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Enabling casting to unique_ptr<T>.
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Clear existing patients when ownership is reclaimed by pybind.
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Ensure that we can use `reference_internal` on existing instances.
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Add derived class test for unique_ptr arguments.
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unique_ptr: Ensure overloads work as desired
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unique_ptr: Confirm RobotLocomotion/drake#8160
EricCousineau-TRI
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unique_ptr: Resolve RobotLocomotion/drake#8160
EricCousineau-TRI
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