Some `*` fails because of eltype

Sample code to produce the issue

julia> r = AngleAxis(1,1,0,0)
3×3 AngleAxis{Int64} with indices SOneTo(3)×SOneTo(3)(1, 1, 0, 0):
 1.0  0.0        0.0
 0.0  0.540302  -0.841471
 0.0  0.841471   0.540302

julia> eltype(r)
Int64

julia> r*[1,2,3]
ERROR: InexactError: Int64(-1.44380834268741)
Stacktrace:
 [1] Int64
   @ ./float.jl:723 [inlined]
 [2] convert
   @ ./number.jl:7 [inlined]
 [3] macro expansion
   @ ~/.julia/packages/StaticArrays/vxjOO/src/util.jl:11 [inlined]
 [4] convert_ntuple
   @ ~/.julia/packages/StaticArrays/vxjOO/src/util.jl:7 [inlined]
 [5] StaticArrays.SVector{3, Int64}(x::Tuple{Float64, Float64, Float64})
   @ StaticArrays ~/.julia/packages/StaticArrays/vxjOO/src/SArray.jl:28
 [6] macro expansion
   @ ~/.julia/packages/StaticArrays/vxjOO/src/matrix_multiply.jl:85 [inlined]
 [7] _mul
   @ ~/.julia/packages/StaticArrays/vxjOO/src/matrix_multiply.jl:67 [inlined]
 [8] *(A::AngleAxis{Int64}, B::Vector{Int64})
   @ StaticArrays ~/.julia/packages/StaticArrays/vxjOO/src/matrix_multiply.jl:8
 [9] top-level scope
   @ REPL[12]:1

How to fix this

https://github.com/JuliaGeometry/Rotations.jl/pull/132 is related, but I think it's better to distinguish the type of parameters of rotation and the type of matrix.

Reproduce the AngleAxis multiplication failure from the Julia sample and inspect the rotation multiplication and eltype behavior. Compare the related changes in JuliaGeometry/Rotations.jl#132, then verify that multiplication no longer attempts an invalid conversion while preserving the intended parameter and matrix element types.