Add Frames constructor for rotation matrices

[anton083]

Closes #13

[codecov[bot]]

Codecov Report

All modified and coverable lines are covered by tests :white_check_mark:

Comparison is base (800cd5d) 89.12% compared to head (071731c) 89.05%.

Additional details and impacted files

```diff @@ Coverage Diff @@ ## main #14 +/- ## ========================================== - Coverage 89.12% 89.05% -0.08% ========================================== Files 9 9 Lines 331 338 +7 ========================================== + Hits 295 301 +6 - Misses 36 37 +1 ```

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