Add Tait-Bryan convention and quaternion formula to documentation

[thomassedlmayer]

This PR adds the specification of the exact Tait-Bryan axis rotation sequence convention that is used in OSI.
It also adds a formula to convert yaw, pitch, roll orientation to quaternions.

Apparently, the bibliography is not located in this repository, so the two additional citations still have to be somehow added to the bibliography:

• tait_bryan_convention: https://en.wikipedia.org/wiki/Euler_angles#Conventions
• euler_to_quaternion: https://en.wikipedia.org/wiki/Rotation_formalisms_in_three_dimensions#Euler_angles_(z-y%E2%80%B2-x%E2%80%B3_intrinsic)_%E2%86%92_quaternion

[thomassedlmayer]

Note that this still has to be tackled:

Apparently, the bibliography is not located in this repository, so the two additional citations still have to be somehow added to the bibliography:
tait_bryan_convention: https://en.wikipedia.org/wiki/Euler_angles#Conventions
euler_to_quaternion: https://en.wikipedia.org/wiki/Rotation_formalisms_in_three_dimensions#Euler_angles_(z-y%E2%80%B2-x%E2%80%B3_intrinsic)_%E2%86%92_quaternion

I did not yet find out how to add entries to the bibliography.