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Eigen based anglesToGvec implementation #634

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Convert the C implementation of anglesToGvec to C++, using the Eigen library for optimized matrix performance.

Expected single-thread performance increase: 10%

Future improvements can be made by building and optimizing for different CPU architectures, using the march option at compile time.

@pep8speaks
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Hello @ZackAttack614! Thanks for opening this PR. We checked the lines you've touched for PEP 8 issues, and found:

Line 117:80: E501 line too long (89 > 79 characters)

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