Make simpler conversion of geometric types from/to array.
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Description
Currently converting an `Isometry3`, `UnitQuaternion`, etc. to an array requires first a conversion to a matrix or vector. This should be simplified. The same remark applies to conversion from an array. See this [discussion](http://users.nphysics.org/t/nalgebra-ffi-guide/197) for further details.
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