Qtty rot

[VPRamon]

This pull request introduces new astronomical reference frames and refactors the rotation APIs to use typed angles, improving type safety and clarity. It also updates related tests and documentation to align with these changes.

Astronomical Frames:

• Added new geocentric astronomical reference frames: GCRS (Geocentric Celestial Reference System), CIRS (Celestial Intermediate Reference System), and TIRS (Terrestrial Intermediate Reference System) in affn::frames::astro. These are important for precise astronomical and geodetic transformations. [1] [2]

Rotation API Refactoring:

• Refactored public rotation constructors to require typed angles (qtty::Radians) instead of raw f64 values. This affects Rotation3::from_axis_angle, Rotation3::from_euler_xyz, and Rotation3::from_euler_zxz, enhancing type safety. [1] [2] [3] [4]
• Introduced new helper methods Rotation3::rx, Rotation3::ry, and Rotation3::rz for constructing rotations around principal axes using typed angles. The previous scalar axis-rotation builders are now internal-only. [1] [2]

Documentation and Examples:

• Updated documentation and code examples to use the new typed-angle rotation constructors, demonstrating best practices for the new API.

Testing Updates:

• Updated all relevant tests in rotation.rs and isometry.rs to use the new typed-angle constructors and helpers, ensuring consistency and correctness with the refactored API. [1] [2] [3] [4] [5] [6] [7] [8] [9] [10] [11] [12] [13] [14] [15]

Internal Improvements:

• Internal axis-rotation methods (from_x_rotation, etc.) are now private, with public access provided via the new typed-angle helpers. [1] [2] [3] [4]

[github-actions]

Package	Line Rate	Complexity	Health
src.cartesian	98%	0	✔
src.frames	92%	0	✔
src	100%	0	✔
src.ops	100%	0	✔
src.spherical	94%	0	✔
Summary	97% (2110 / 2168)	0	✔