Refactor affine transfomrations and add deprecation utils

[waltsims]

This pull request introduces several changes to the kwave utilities, focusing on handling deprecation warnings, improving affine transformations, and updating rotation matrix calculations. The most important changes include adding a deprecation utility, replacing get_affine_matrix with make_affine, and using scipy.spatial.transform.Rotation for rotation matrices.

Deprecation Handling:

• Added a deprecated decorator in kwave/utils/deprecation.py to mark functions as deprecated and provide warnings.

Affine Transformations:

• Replaced get_affine_matrix with make_affine in kwave/utils/kwave_array.py and kwave/utils/math.py to create affine transformation matrices. [1] [2]
• Deprecated get_affine_matrix in favor of make_affine.

Rotation Matrices:

• Updated rotation matrix calculations to use scipy.spatial.transform.Rotation in kwave/utils/mapgen.py and kwave/utils/math.py. [1] [2] [3]

Code Refactor:

• Removed unused imports and reorganized imports in kwave/utils/kwave_array.py and kwave/utils/mapgen.py. [1] [2]

[codecov[bot]]

Codecov Report

Attention: Patch coverage is 94.33962% with 6 lines in your changes missing coverage. Please review.

Project coverage is 73.26%. Comparing base (b78cd2a) to head (7bb4add). Report is 29 commits behind head on master.

Files with missing lines	Patch %	Lines
kwave/utils/math.py	94.00%	3 Missing and 3 partials :warning:

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #550      +/-   ##
==========================================
+ Coverage   73.16%   73.26%   +0.09%     
==========================================
  Files          46       46              
  Lines        6830     6848      +18     
  Branches     1308     1307       -1     
==========================================
+ Hits         4997     5017      +20     
+ Misses       1284     1283       -1     
+ Partials      549      548       -1     

Flag	Coverage Δ
3.10	73.26% <94.33%> (+0.09%)	:arrow_up:
3.11	73.26% <94.33%> (+0.09%)	:arrow_up:
3.12	73.26% <94.33%> (+0.09%)	:arrow_up:
3.13	73.26% <94.33%> (+0.09%)	:arrow_up:
macos-latest	73.23% <94.33%> (+0.09%)	:arrow_up:
ubuntu-latest	73.23% <94.33%> (+0.09%)	:arrow_up:
windows-latest	73.24% <94.33%> (+0.09%)	:arrow_up:

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