Use R3x3Matrix in transforms.
Use Rotations in Transforms.
New way of applying an affine map.
Another affine map.
Velocity map.
Typed computation of the rotation.
Readying.
Lint.
After egg's review.
Merge pull request #318 from pleroy/Rotations

Reimplement Transforms to use all the goodies related to R3x3Matrix and friends