Orientation (#343)

* Added first pass orientations class

* Added stub Orientations tests

* More Orientation tests and fixed interpUtils

* Fixed new enum name

* minimal docs

* Added vec merge

* Added Orientation multiplications

* Moved Vec3d struct into utils

* Removed interpolationIndex from ale.cpp/h as it's now located in interpUtils

* Updated Orientation/Rotation to use State and Vec3d structs

* Updated associated tests

* Updated things based on PR feedback

Co-authored-by: Jesse Mapel <jmapel@usgs.gov>