This change mostly replaces explicit if/then/glog.Fatalf calls with
util.Assert calls. In addition, it adds a companion util.Fail family
of methods that does the same thing as a failed assertion, except that
it is unconditional.
This introduces three assertion functions:
* util.Assert: simply asserts a boolean condition, ripping the process using
glog should it fail, with a stock message.
* util.AssertM: asserts a boolean condition, also using glog if it fails,
but it comes with a message to help with debugging too.
* util.AssertMF: the same, except it formats the message with arguments.
