Provide functions to write numerically stable code and avoid pitfalls

[AlexanderFabisch]

• Rotation matrix
  • matrix_requires_renormalization - check if rotation matrix needs renormalization (Provide functions to write numerically stable code and avoid pitfalls #304)
• Euler angles
  • norm_euler - maps Euler angles to unique interval (Provide functions to write numerically stable code and avoid pitfalls #304)
  • euler_near_gimbal_lock - checks if angles are close to gimbal lock singularity
  • assert_euler_almost_equal - checks if two sets of Euler angles are similar
• Compact axis-angle
  • compact_axis_angle_near_pi - check if angle is close to pi
• Quaternion
  • quaternion_double - create another quaternion that represents the same orientation (double cover)
  • quaternion_requires_renormalization - check if quaternion needs renormalization
• MRP
  • mrp_near_singularity - check if angle is close 2 * pi
  • norm_mrp_angle - normalize angle to [-pi, pi]
  • mrp_double - create another mrp that represents the same orientation (double cover)
  • assert_mrp_almost_equal - check if two mrp vectors are similar
  • mrp_from_axis_angle - conversion
• Transformation matrix
  • transform_requires_renormalization - check if transformation matrix needs renormalization
• Exp. coordinates
  • assert_exponential_coordinates_almost_equal - check if exp. coordinates are similar
• Dual quaternion
  • dual_quaternion_requires_renormalization - check if dual quaternion needs renormalization
  • dual_quaternion_double - create another dual quaternion that represents the same transformation (double cover)

[AlexanderFabisch]

#304