Direct cosine matrix helper functions

[ChristopherRabotin]

Several functions to help in the creation of direct cosine matrices, as these are still often used for analysis.

Proposed signatures

Axis enum

This will be used to create DCMs from the Euler angles provided.

pub enum Axis {
  X,
  Y,
  Z
}

Anise would also provide consts for all permutations ((3,3,2), (3,3,1), ...) as demo'd in the playground: https://play.rust-lang.org/?version=stable&mode=debug&edition=2021&gist=4fc2d3cc1657df0264fbf3f2bf956f44 .

DCM from Euler angles

Note: I think we should provide Matrix3 as a top level export of nalgebra's SMatrix<f64, 3, 3>, a statically allocated matrix.

/// Example usage (all equivalent): 
/// let dcm = Matrix3::from( (45.0, 20.0, 19.0), EULER_321);
/// let dcm = Matrix3::from_euler_angles( (45.0, 20.0, 19.0), EULER_321);
/// let dcm = Matrix3::from_euler_angles( (45.0, 20.0, 19.0), (Axis::Z, Axis::Y, Axis::X));
/// let dcm = Matrix3::from_angles( (Axis::Z, 45.0) , (Axis::Y, 20.0), (Axis::X, 19.0));
impl Matrix3 {
  pub fn from_euler_angles(angles_deg: (f64, f64, f64), rotation_group: (Axis, Axis, Axis)) {}
}

(...)
impl From<( (f64, f64, f64), (Axis, Axis, Axis))> for Matrix3 {}

Note that an implementation of From necessarily also implements an Into, which might lead to confusing code being valid like the following.

let euler: ( (f64, f64, f64), (Axis, Axis, Axis) ) = my_dcm.into();