Quaternion from Matrix Optional Args

[Olshansk]

Changes:

• Optionally pass in the rtol and atol arguments from pyquaternion to numpys allclose and isclose functions when initializing a Quaternion from a matrix
• Add a unit test with and without optional args when initializing a Quaternion from a matrix

Initiliaizing a quaternion from a matrix raises a ValueError if the provided matrix is not orthogonal. This is because the default precision used by numpy's allclose function is 1e-08.

Developers should have an option to specify a lower precision if they choose to and still use all of the utilities in this library.

[Olshansk]

@KieranWynn I really believe this will be a valuable change to developers.