rotg/rot/rotmg/rotm docs and examples

[brian-kelley]

• Add wiki examples for rotg/rot and rotmg/rotm
• Improve inline/doxygen comments for routines

Note: when #2466 is merged, there will be a new template parameter for rot and the doxygen should be updated in whichever PR merges last. This PR should probably go in last.

Sample rot example output:

x,y before applying Givens rotation:
2.63237 9.19669 1.52604 9.48833 1.51194 3.62117 7.80453 1.61353 7.66461 6.89282 
3.22341 6.86526 4.57516 7.72399 4.65974 8.82289 3.13523 6.45966 7.73998 6.55219 

rotg output (rotation parameters) to eliminate y(0):
c = 0.632523 
s = 0.774542 
r = x(0) = 4.1617 
z = 1.58097 

x,y after applying Givens rotation:
4.1617 11.1345 4.50891 11.9841 4.5655 9.12417 7.36491 6.02387 10.843 9.43481 
0 -2.78078 1.71191 -2.4635 1.77634 2.77593 -4.06183 2.83613 -1.04084 -1.19437 

Sample rotm output:

x,y before applying modified Givens rotation:
2.63237 9.19669 1.52604 9.48833 1.51194 3.62117 7.80453 1.61353 7.66461 6.89282 
3.22341 6.86526 4.57516 7.72399 4.65974 8.82289 3.13523 6.45966 7.73998 6.55219 

rotmg output (rotation parameters) to eliminate y(0):
d1 = 0.599915 
d2 = 0.599915 
flag = 1
h components = 0.816642 0 0 0.816642 

x,y after applying modified Givens rotation and scaling by [sqrt(d1), sqrt(d2)]):
4.1617 11.1345 4.50891 11.9841 4.5655 9.12417 7.36491 6.02387 10.843 9.43481 
0 -2.78078 1.71191 -2.4635 1.77634 2.77593 -4.06183 2.83613 -1.04084 -1.19437 

[lucbv]

Thanks for all the updates, this looks pretty good!