added setReorientation function

[LazaroFilm]

Added a setReorientation function that takes a quaternion and applies it to the rotation vector output as an offset.

This can be used in conjunction to the tare functions to offset the output manually.
To reset, simply send a zeroed out quaternion to the function.

Details on SH2 documentation 6.4.3.3 Set Reorientation (0x02)

[lewispg228]

Hey @LazaroFilm ,
Thanks for this PR! Looks good. Happy to pull it in as is.

Would you be interested in also writing an example? No pressure, of course, but it could be very helpful to see how to actually implement this in some example code.

We currently don't have any examples that expose the sh2_Quaternion_t data type in the example code. We typically strive to keep the examples as accessible as possible. We often create additional functions that allow the user to send "simpler" arguments than a pointer to a complex data-type like a struct.

Either way, thanks again and we'll be pulling this in shortly!
-Pete

[LazaroFilm]

Good point I'll make one and add it to the PR. And I'll look into simplifying the data struct access. Maybe inputing the quaternion values as variables to the function.

[lewispg228]

Sounds good and thank you! Looking forward to seeing your example!