Add support for rotation in crs class

[maxm17]

• Add rotation uom to init block.
• Add init rotation argument to state that a positive value indicates that the local y axis is clockwise from the parent y axis.
• Check rotation uom is valid (use weights_and_measures).
• Store rotation in create_xml.
• Enhance local_to_global_crs and global_to_local_crs function to apply rotation.

Use weight_and_measures to convert angle uom.
Use vector_utilities to apply the rotation (rotation matrix then apply).