Huge performance improvement with angle2dcm

The function angle2dcm has now all the possible direction cosine
matrices hard-coded instead of calling the function
create_rotation_matrix to build the DCM. Thus, the method is much more
faster now.

Additionally, two functions were added:

    _ create_rotation_sequence!(dcm, angle, axis)
    _ angle2dcm!(dcm, angle_r1, angle_r2, angle_r3, rot_seq)

in which a pre-allocated matrix (dcm) can be used to reduce even more
the computational burden.