Roman Shapovalov 2f3cd98725 6D representation of rotations.
Summary: Conversion to/from the 6D representation of rotation from the paper http://arxiv.org/abs/1812.07035 ; based on David’s implementation.

Reviewed By: davnov134

Differential Revision: D22234397

fbshipit-source-id: 9e25ee93da7e3a2f2068cbe362cb5edc88649ce0
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