rotation functions

Function	Description
`tr2angvec`	Convert rotation matrix to angle-vector form
`tr2eul`	Convert SO(3) or SE(3) matrix to Euler angles
`tr2rpy`	Convert SO(3) or SE(3) matrix to roll-pitch-yaw angles
`tr2rt`	Convert homogeneous transform to rotation and translation
`tranimate`	Animate a 3D coordinate frame
`tranimate2`	Animate a 2D coordinate frame
`trot2`	SE(2) rotation matrix
`trotx`	SE(3) rotation about X axis
`troty`	SE(3) rotation about Y axis
`trotz`	SE(3) rotation about Z axis

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