Resolve "Add method for vector rotation for converting to world coordinate system"

Implemented requested method and added unit tests for it.

Closes #327 (closed)

tests/unit_test/tst_extrCalibration.cpp

@@ -15,7 +15,7 @@
  * GNU General Public License for more details.
  *
  * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://cdwww.gnu.org/licenses/>.
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 #include "control.h"
 #include "extrCalibration.h"