Add more serialization for eigen types and collision types

[Levi-Armstrong]

No description provided.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 89.40%. Comparing base (d3867a7) to head (599b708).
Report is 1 commits behind head on master.

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1076      +/-   ##
==========================================
- Coverage   89.50%   89.40%   -0.11%     
==========================================
  Files         288      288              
  Lines       16286    16304      +18     
==========================================
- Hits        14577    14576       -1     
- Misses       1709     1728      +19     

see 6 files with indirect coverage changes