wboayue / fusion-ahrs / #39

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feat(math)!: replace nalgebra with in-crate math types in public API (#43)

- public API uses Vector, Quaternion, Matrix; inputs take impl Into<...>
  so [f32; 3] etc. work directly
- remove Vector3Ext / QuaternionExt; drop nalgebra dependency, libm only
- generic shells delegate to private non-generic bodies (keeps inlining
  in-crate); #[inline] on small math ops
- 9-axis outputs now bit-identical to C (normal-sqrt build) on test data
- CLAUDE.md: parity, performance, and release workflow guidance

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