rotm2quat function in the quaternion object and fixed the kalman tests

src/shared/kalman/KalmanEigen.cpp

src/shared/kalman/KalmanEigen.h

src/shared/math/SkyQuaternion.cpp

src/shared/math/SkyQuaternion.h

src/tests/catch/test-kalman-eigen.cpp

src/tests/kalman/test-kalman-eigen-benchmark.cpp