Should we support rotation of dynamic sized matrices?

[furgalep]

The current implementation uses class get_matrix3 to abstract the types for fixed sized 3xN matrices. Should we support dynamic sized 3xN matrices?

i.e.:

typedef kindr::rotations::eigen_impl::RotationQuaternionAD RotationQuaternion
Eigen::MatrixXd A_p(3,100);

// ... fill this somehow
RotationQuaternion q_A_B(init);

Eigen::MatrixXd B_p = q_A_B.rotate(A_p);