Geo3d

- 20x speedup of frame creation from given Euler angles through use of jit-compiled `euler_as_quat` function replacing the scipy `Rotation.from_euler` method

- Add `quat_angle`, `quat_twist_angle`, `quat_as_rotvec` methods

- Add `matrix_as_quat` function, to convert rotation matrix to unit quaternion

- Move linear algebra functions to linalg submodule

- Move object-to-object query functions to `query` module (distance_between_points, minimize_points_to_points_distance).
- Improve doc strings
- Additional doc notebook for queries, update basic usage notebook

- Split constraints calculation into separate repository