Apply pre-commit on all the project

run `pre-commit run -a`

Export name types

Remove useless std::cout

Fix memory issue with Quaternion::normalized

Co-authored-by: Wolfgang Merkt <wxmerkt@users.noreply.github.com>

Fix Quaternion constructor

Fix quaternion initialisation segfault under -march=native

Relates to #231

Fix RowMajor issues

Prepare ROS2 release