Construct n-dimensional rotation matrix. #1366
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Adds two methods
from_arcandfrom_arc_angletoOMatrixandRotationbased on Lemma 4.1 (Codesido's Rotation Formula) and Simple rotations / Rotation in a two–plane, respectively. Also addsRotation4/5/6aliases. For higher dimensions, a rotation axis is ambiguous and instead two vectors spanning the rotation arc seem to be the most intuitive alternative. Both methods are based on the exponential map but have different properties in edge cases as documented.