feat(router): add regex matchers

@petebacondarwin deserves credit for most of this commit.

This allows you to specify a regex and serializer function instead
of the path DSL in your route declaration.

```
@RouteConfig([
  { regex: '[a-z]+.[0-9]+',
    serializer: (params) => `{params.a}.params.b}`,
    component: MyComponent }
])
class Component {}
```

Closes #7325
Closes #7126

modules/angular1_router/test/integration/lifecycle_hook_spec.js

@@ -351,7 +351,7 @@ describe('Navigation lifecycle', function () {
 
     expect(spy).toHaveBeenCalled();
     var args = spy.calls.mostRecent().args;
-    expect(args[0].params).toEqual({name: 'brian'});
+    expect(args[0].params).toEqual(jasmine.objectContaining({name: 'brian'}));
     expect(args[1]).toBe($http);
   }));