Fix: rotate a vector of quantities with AngleAxis

[eliascarv]

In the current version of Rotations.jl, rotating a vector of quantities with AngleAxis returns a new vector with incorrect eltype:

julia> R = AngleAxis(π / 2, 0, 0, 1)
3×3 AngleAxis{Float64} with indices SOneTo(3)×SOneTo(3)(1.5708, 0.0, 0.0, 1.0):
 2.22045e-16  -1.0          0.0
 1.0           2.22045e-16  0.0
 0.0           0.0          1.0

julia> v = SVector(1.0, 1.0, 1.0) * u"m"
3-element SVector{3, Quantity{Float64, 𝐋, Unitful.FreeUnits{(m,), 𝐋, nothing}}} with indices SOneTo(3):
 1.0 m
 1.0 m
 1.0 m

julia> R * v
3-element SVector{3, Quantity{Float64}} with indices SOneTo(3):
 -0.9999999999999999 m
                 1.0 m
                 1.0 m

This PR fixes this bug:

julia> R = AngleAxis(π / 2, 0, 0, 1)
3×3 AngleAxis{Float64} with indices SOneTo(3)×SOneTo(3)(1.5708, 0.0, 0.0, 1.0):
 2.22045e-16  -1.0          0.0
 1.0           2.22045e-16  0.0
 0.0           0.0          1.0

julia> v = SVector(1.0, 1.0, 1.0) * u"m"
3-element SVector{3, Quantity{Float64, 𝐋, Unitful.FreeUnits{(m,), 𝐋, nothing}}} with indices SOneTo(3):
 1.0 m
 1.0 m
 1.0 m

julia> R * v
3-element SVector{3, Quantity{Float64, 𝐋, Unitful.FreeUnits{(m,), 𝐋, nothing}}} with indices SOneTo(3):
 -0.9999999999999999 m
                 1.0 m
                 1.0 m

[hyrodium]

Thank you for the PR!
Could you add tests for the fix?

[eliascarv]

@hyrodium tests added. Can you check if they follow the code style?

[hyrodium]

Thank you for adding tests!

[hyrodium]

I don't fully understand the practical reason why Base.promote_op is avoided, but Base.promote_op is already used in other places in Rotations. jl like in this PR, so I will approve this PR.

[eliascarv]

@hyrodium can you release a patch version with this PR?