py math: Support pickling

[EricCousineau-TRI]

Resolves #11957

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This change is 

[EricCousineau-TRI]

+@sammy-tri Might you be up for doing feature review on this?

Reviewable status: LGTM missing from assignee sammy-tri(platform), needs at least two assigned reviewers, commits need curation (https://drake.mit.edu/reviewable.html#curated-commits) (waiting on @sammy-tri)

[sammy-tri]

+@ggould-tri for platform review

Reviewed 11 of 11 files at r1.
Reviewable status: LGTM missing from assignee ggould-tri(platform), commits need curation (https://drake.mit.edu/reviewable.html#curated-commits) (waiting on @ggould-tri)

[ggould-tri]

Reviewed 11 of 11 files at r1.
Reviewable status: 2 unresolved discussions, commits need curation (https://drake.mit.edu/reviewable.html#curated-commits) (waiting on @EricCousineau-TRI)

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bindings/pydrake/common/eigen_geometry_py.cc, line 301 at r1 (raw file):

    DefCast<T>(&cls, kCastDoc);
    DefPickle(&cls,
        // Use Python methods to use `wxyz` form.

minor: Grammar? "use ... to use"

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bindings/pydrake/common/test/cpp_template_test.py, line 43 at r1 (raw file):

def check_pickle(test, obj):

minor: Rule-of-three on this code, which is copypasta'd with small differences several times in this PR.

However this is test code so if it's impractical to factor you can dismiss this comment.

[EricCousineau-TRI]

Will file minor follow-up PR with the fixes - thanks!

Reviewable status: commits need curation (https://drake.mit.edu/reviewable.html#curated-commits)