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Updated math types

Lukas requested to merge lcs_inrotech/RobWork:math_types_update into devel

Update some of the math types:

  • rw/math/Line2DPolar and rw/math/Vector2D
    • added missing const
  • rw/math/Transform2D
    • Fixed documentation
    • Added missing comparison operators
    • Added missing boost serialization
  • rw/math/Rotation2D
    • Fixed documentation
    • Updated Eigen type to return rotation 2D instead of matrix
    • Added missing boost serialization

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