(feat) make tilde_matrix (skew-symmetric matrix) more idiomatic

[ThibFrgsGmz]

Some improvements we could make to make the code more idiomatic in Rust.

• Use direct indexing to access vector elements rather than using tuples.
• Improved documentation to explain what the function does and what it returns.

[codecov]

Codecov Report

Patch coverage: 88.23% and project coverage change: +0.04 🎉

Comparison is base (63b78f1) 66.70% compared to head (949cf0d) 66.75%.

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #173      +/-   ##
==========================================
+ Coverage   66.70%   66.75%   +0.04%     
==========================================
  Files         127      127              
  Lines       32623    32629       +6     
==========================================
+ Hits        21762    21781      +19     
+ Misses      10861    10848      -13     

Impacted Files	Coverage Δ
src/utils.rs	66.41% <88.23%> (+2.06%)	⬆️

... and 6 files with indirect coverage changes

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