Write orientation & transform in C++ (#1637)

* locationd at 20hz

* update ref

* bump cereal

* dont modify global state

* add scons files

* ecef2geodetic and geodetic2ecef

* Finish local coords class

* Add header file

* Add orientation.cc

* cleanup

* Add functions to header file

* Add cython wrapper

* y u no work?

* This passes the tests

* test rot2quat and quat2rot

* Teste euler2rot and rot2euler

* rot_matrix

* test ecef_euler_from_ned and ned_euler_from_ecef

* add benchmark

* Add test

* Consistent newlines

* no more radians supported in geodetic

* test localcoord single

* test localcoord single

* all tests pass

* Unused import

* Add alternate namings

* Add source for formulas

* no explicit tests needed

* remove benchmark

* Add release files

* Typo

* Remove print statement

* no access to raw transform matrix

* temporarily add tolerance

* handcode quat2euler

* update ref

common/transformations/setup.py

@@ -0,0 +1,42 @@
+import os
+import numpy
+import sysconfig
+
+from Cython.Build import cythonize
+from Cython.Distutils import build_ext
+from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
+
+def get_ext_filename_without_platform_suffix(filename):
+  name, ext = os.path.splitext(filename)
+  ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
+
+  if ext_suffix == ext:
+    return filename
+
+  ext_suffix = ext_suffix.replace(ext, '')
+  idx = name.find(ext_suffix)
+
+  if idx == -1:
+    return filename
+  else:
+    return name[:idx] + ext
+
+
+class BuildExtWithoutPlatformSuffix(build_ext):
+  def get_ext_filename(self, ext_name):
+    filename = super().get_ext_filename(ext_name)
+    return get_ext_filename_without_platform_suffix(filename)
+
+
+setup(
+  name='Cython transformations wrapper',
+  cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
+  ext_modules=cythonize(
+  Extension(
+    "transformations",
+    sources=["transformations.pyx"],
+    language="c++",
+    extra_compile_args=["-std=c++14"],
+    include_dirs=[numpy.get_include()],
+  )
+))