feat: angular 4 compatibility

* Bumps the required Angular version to 4 and TypeScript to 2.1.6.
* Fixes deprecation warnings for `<template>` usages.
* Fixes any unit and e2e test failures.
* Includes the new animations module and switches any components that use animations to it.
* Fixes issues with the various test apps.

Author: crisbeto

src/lib/input/input-container.spec.ts

@@ -775,3 +775,16 @@ class MdTextareaWithBindings {
   template: `<md-input-container><input></md-input-container>`
 })
 class MdInputContainerMissingMdInputTestController {}
+
+/**
+ * Gets a RegExp used to detect an angular wrapped error message.
+ * See https://github.com/angular/angular/issues/8348
+ */
+const angularWrappedErrorMessage = (e: Error) =>
+    new RegExp(`${regexpEscape(e.message)}$`);
+
+/**
+ * Escape a string for use inside a RegExp.
+ * Based on https://github.com/sindresorhus/escape-string-regex
+ */
+const regexpEscape = (s: string) => s.replace(/[|\\{}()[\]^$+*?.]/g, '\\$&');