is_derive_trmx

[yosakaon]

This PR introduces is_derive_trmx instance, which provides automatic differentiation for transposed matrices.
It is particularly useful as the development uses a row-vector convention rather than the more common column-vector convention found in physics and mechanics literature.

Most of the code is from robot-rocq, co-authored by @affeldt-aist.

Motivation for this change

Checklist

• added corresponding entries in CHANGELOG_UNRELEASED.md

• added corresponding documentation in the headers

Reference: How to document

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As a rule of thumb:

• PRs with several commits that make sense individually and that
  all compile are preferentially merged into master.
• PRs with disorganized commits are very likely to be squash-rebased.

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