Get goniometer angles from rotation matrix

[AndreiSavici]

This issue was originally TRAC 4822

If possible, try to get goniometer settings that correspond to a certain rotation matrix, maybe subject to constraints.

[AndreiSavici]

@NickDraper (2012-04-30T14:15:48):
Moved at end of release 2.1

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@NickDraper (2012-08-10T12:45:13):
http://www.mantidproject.org/Release_Notes_2_2_Full_List

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@NickDraper (2012-10-30T09:19:09):
moved to Release 2.4

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@NickDraper (2013-01-28T09:23:33):
Moved at the code freeze for release 2.4

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@NickDraper (2014-02-14T11:07:57):
bulk move to assigned at the into of the triage step

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