Added py::register_exception for simple case (#296)

The custom exception handling added in PR #273 is robust, but is overly
complex for declaring the most common simple C++ -> Python exception
mapping that needs only to copy `what()`.  This add a simpler
`py::register_exception<CppExp>(module, "PyExp");` function that greatly
simplifies the common basic case of translation of a simple CppException
into a simple PythonException, while not removing the more advanced
capabilities of defining custom exception handlers.