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ENH: Improve quaternions

username-removed-285095 requested to merge stur86/ase:improve-quaternions into master

Some improvements in the Quaternion class that should not affect any existing code or interface. Added:

  • static method to generate Quaternions from axis+angle
  • method to get axis+angle representation from Quaternion
  • static method to generate Quaternions from Euler angles (ZYZ and ZXZ)
  • method to get Euler angles representation from Quaternion (ZYZ and ZXZ)
  • test cases for all of the above

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