Reintroduce rotation matrices into Blaze

[Klaus Iglberger]

Description

Since Blaze 1.0 rotation matrices were provided as unofficial feature. However, due to negligence, lack of proper testing and since the feature was never officially supported the RotationMatrix class removed in Blaze 2.4. It should be reintroduced with full compatibility to existing vectors and matrices and equipped with test cases.

Tasks

• reintroduce the RotationMatrix class template
• provide a full class documentation
• ensure compatibility with all existing vector and matrix classes
• guarantee maximum performance for all operations
• add test cases for the entire RotationMatrix functionality