Consistent matrix output versus tuple output FIXED

[ABKor752]

References to other Issues or PRs

Fixes #19725

Brief description of what is fixed or changed

The issue in question talked about there being inconsistent outputs of matrices; some matrices were printed as tuples while others were printed as normal Sympy-style matrices. To the best of my ability, I have made the output of matrices consistent, and if there is inconsistency elsewhere in the vector module, I have written a function which can be called to turn the tuple into a proper matrix.

Other comments

This is the same pull request as #20559. The reason for this additional pull request is to fix an issue with the entire test_coordsysrect.py being modified by the commits.

Release Notes

• vector
  • Added a function to allow for consistency across matrix printing in the vector module.

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• vector
  • Added a function to allow for consistency across matrix printing in the vector module. (#20606 by @ABKor752)

This will be added to https://github.com/sympy/sympy/wiki/Release-Notes-for-1.8.

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#### References to other Issues or PRs
<!-- If this pull request fixes an issue, write "Fixes #NNNN" in that exact
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write a comment on that issue linking back to this pull request once it is
open. --> Fixes #19725


#### Brief description of what is fixed or changed
The issue in question talked about there being inconsistent outputs of matrices; some matrices were printed as tuples while others were printed as normal Sympy-style matrices. To the best of my ability, I have made the output of matrices consistent, and if there is inconsistency elsewhere in the vector module, I have written a function which can be called to turn the tuple into a proper matrix.

#### Other comments
This is the same pull request as #20559. The reason for this additional pull request is to fix an issue with the entire test_coordsysrect.py being modified by the commits.

#### Release Notes

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<!-- BEGIN RELEASE NOTES -->
* vector
    * Added a function to allow for consistency across matrix printing in the vector module.
<!-- END RELEASE NOTES -->

[oscarbenjamin]

@moorepants can you review this?