to optimize matrix-diag and diag-matrix products without
making Product over complicated.
* compilation fixes in Tridiagonalization and HessenbergDecomposition
in the case of 2x2 matrices.
* added an Orientation2D small class with similar interface than Quaternion
(used by Transform to handle 2D and 3D orientations seamlessly)
* added a couple of features in Transform.
which is even better optimized by the compiler.
* Quaternion no longer inherits MatrixBase. Instead it stores the coefficients
using a Matrix<> and provides only relevant methods.
as an argument of a function. Other possibilities for the name could be "end" or "matrix" ??
* various update in Quaternion, in particular I added a lot of FIXME about the API options,
these have to be discussed and fixed.
