Eigen pred

• Add dummy print gtest macro PRINT_TEST_FINISHED -> simply prints test & test-case name once test-case has finished.
• Moved (well copied) MatrixSizeCheck to separate file & added VectorSizeCheck & RowVectorSizeCheck aliases
• Add plenty of predicates (lambdas functions) to test Eigen-related things - e.g. later use in gtest test macro
• Add a getYaw function to rotation.h