Accept a stacked (N, r, c) ndarray as a sequence of poses (SE3, SO3, SE2, SO2) - #243

Closes #236.

SE3(arr) with an (N, 4, 4) array raised "bad argument to constructor", and with check=False it returned a malformed object (length 1, but .A of shape (N, 4, 4)).

Changes:

• BasePoseList.arghandler: an ndarray with shape (N, r, c), where (r, c) is the shape of one value of the class, is now taken as N values, the same as SE3(list(arr)). Each matrix still goes through the class's validity check when check=True. This covers the matrix classes SE3, SO3, SE2 and SO2.
• With check=False, an array of the wrong shape is now rejected instead of silently stored. Only the value checks are skipped.
• The SE3 error message now lists the accepted forms, and the constructor docstring documents the new form.

Test: test_constructor_stacked_array covers SE3 and SO3 from a stacked array with both check values, the empty (0, 4, 4) case, rejection of invalid matrices with check=True and of a wrong-sized stack with either value. It fails on master and passes with this change.

Run locally (Python 3.11): pytest tests gives 348 passed, 3 skipped. black 23.10.0 is clean. Not run: the docs build and other Python versions.