[ENHANCEMENT] Replace Rotations with scipy

[oerc0122]

Is your feature request related to a problem? Please describe. MDANSE.Mathematics.LinearAlgebra.Quaternion is used in three places:

• As a return from MANSE.Mathematics.Transformation.Rotation.asQuaternion
• As a return from MANSE.Mathematics.superposition_fit
• As a return from RigidBodyTrajectoryGenerator (which is being deprecated?)

Describe the solution you'd like Scipy provides established classes for handling rotations including quaternions.

These methods should be reworked to use these classes to remove maintenance responsibilities.

Describe alternatives you've considered N/A

Additional context N/A