fix TransformT<RotationMatrixAboutZ>::mulMatrixTransposeBy

and rewrite TransformT<RotationMatrixAbout{Y,Z}>::mulMatrixTransposeBy
in order to ease the comparison with
TransformT<RotationMatrix>::mulMatrixTransposeBy

Change-Id: I2762d95955db3bfb7cd9c5f1d4f6e5c2ada4487e