Orthogonal groups for IntegralLattices

Implement a class for the orthogonal group of integral lattices. Its elements are isometries of the ambient spaces which preserve the lattice.

As functionality:

Its elements have an action on elements of the ambient space and the lattice
action on the dual lattice
It is a matrix group
Compute generators in case the lattice is positive definite. One can use QuadraticForm.automorphisms() for that.
It should also work for indefinite lattices. Just have some not implemented errors - like the generators.
Allow subgroups of the orthogonal group.

Depends on #23634 Depends on #23699 Depends on #24150 Depends on #24702

Component: linear algebra

Author: Simon Brandhorst

Branch/Commit: 5ae4594

Reviewer: David Roe

sagemath / sage