WIP: Check if rotation matrix needs normalization

[AlexanderFabisch]

Add functions

• matrix_requires_renormalization - check if rotation matrix needs renormalization
• norm_euler - maps Euler angles to unique interval
• euler_near_gimbal_lock - checks if angles are close to gimbal lock singularity

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Codecov Report

All modified and coverable lines are covered by tests :white_check_mark:

Project coverage is 100.00%. Comparing base (ea69792) to head (96f5592). Report is 170 commits behind head on develop.

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Additional details and impacted files

@@            Coverage Diff             @@
##           develop      #304    +/-   ##
==========================================
  Coverage   100.00%   100.00%            
==========================================
  Files           31        33     +2     
  Lines         2552      2669   +117     
  Branches       294       280    -14     
==========================================
+ Hits          2552      2669   +117     

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