Add rotation to pyi

Trying having a better structure but it didn't work

anise-py/anise.pyi

@@ -2201,3 +2201,82 @@ KPL/TPC files must be converted into "PCA" (Planetary Constant ANISE) files befo
     __all__: list = ...
     __name__: str = ...
 
+
+@typing.final
+class rotation:
+
+    @typing.final
+    class DCM:
+        """Defines a direction cosine matrix from one frame ID to another frame ID, optionally with its time derivative.
+    It provides a number of run-time checks that prevent invalid rotations."""
+        from_id: int
+        rot_mat: numpy.array
+        rot_mat_dt: numpy.array
+        to_id: int
+
+        def __init__(self, np_rot_mat: numpy.array, from_id: int, to_id: int, np_rot_mat_dt: numpy.array=None) -> DCM:
+            """Defines a direction cosine matrix from one frame ID to another frame ID, optionally with its time derivative.
+    It provides a number of run-time checks that prevent invalid rotations."""
+
+        @staticmethod
+        def from_identity(from_id: int, to_id: int) -> DCM:
+            """Builds an identity rotation."""
+
+        @staticmethod
+        def from_r1(angle_rad: float, from_id: int, to_id: int) -> DCM:
+            """Returns a rotation matrix for a rotation about the X axis.
+
+    Source: `euler1` function from Baslisk"""
+
+        @staticmethod
+        def from_r2(angle_rad: float, from_id: int, to_id: int) -> DCM:
+            """Returns a rotation matrix for a rotation about the Y axis.
+
+    Source: `euler2` function from Basilisk"""
+
+        @staticmethod
+        def from_r3(angle_rad: float, from_id: int, to_id: int) -> DCM:
+            """Returns a rotation matrix for a rotation about the Z axis.
+
+    Source: `euler3` function from Basilisk"""
+
+        def get_state_dcm(self) -> numpy.array:
+            """Returns the 6x6 DCM to rotate a state. If the time derivative of this DCM is defined, this 6x6 accounts for the transport theorem.
+    Warning: you MUST manually install numpy to call this function."""
+
+        def is_identity(self) -> bool:
+            """Returns whether this rotation is identity, checking first the frames and then the rotation matrix (but ignores its time derivative)"""
+
+        def is_valid(self, unit_tol: float, det_tol: float) -> bool:
+            """Returns whether the `rot_mat` of this DCM is a valid rotation matrix.
+    The criteria for validity are:
+    -- The columns of the matrix are unit vectors, within a specified tolerance (unit_tol).
+    -- The determinant of the matrix formed by unitizing the columns of the input matrix is 1, within a specified tolerance. This criterion ensures that the columns of the matrix are nearly orthogonal, and that they form a right-handed basis (det_tol).
+    [Source: SPICE's rotation.req](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/rotation.html#Validating%20a%20rotation%20matrix)"""
+
+        def transpose(self) -> DCM:
+            """Returns the transpose of this DCM"""
+
+        def __eq__(self, value: typing.Any) -> bool:
+            """Return self==value."""
+
+        def __ge__(self, value: typing.Any) -> bool:
+            """Return self>=value."""
+
+        def __gt__(self, value: typing.Any) -> bool:
+            """Return self>value."""
+
+        def __le__(self, value: typing.Any) -> bool:
+            """Return self<=value."""
+
+        def __lt__(self, value: typing.Any) -> bool:
+            """Return self<value."""
+
+        def __ne__(self, value: typing.Any) -> bool:
+            """Return self!=value."""
+
+        def __repr__(self) -> str:
+            """Return repr(self)."""
+
+        def __str__(self) -> str:
+            """Return str(self)."""