FTBFS on jammy

[Dan Bungert]

opensurgsim will FTBFS on Jammy. The most pressing problem is the following:

/<<PKGBUILDDIR>>/SurgSim/Devices/DeviceFilters/PoseIntegrator.cpp:122:42: error: no matching function for call to ‘computeAngleAndAxis(Eigen::Transform<double, 3, 1>::RotationReturnType, double*, SurgSim::Math::Vector3d*)’
  122 | Math::computeAngleAndAxis(pose.rotation(), &angle, &rotationAxis);
      | ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /<<PKGBUILDDIR>>/SurgSim/Framework/Accessible.h:27,
                 from /<<PKGBUILDDIR>>/SurgSim/Input/DeviceInterface.h:24,
                 from /<<PKGBUILDDIR>>/SurgSim/Input/CommonDevice.h:22,
                 from /<<PKGBUILDDIR>>/SurgSim/Devices/DeviceFilters/DeviceFilter.h:21,
                 from /<<PKGBUILDDIR>>/SurgSim/Devices/DeviceFilters/PoseIntegrator.h:23,
                 from /<<PKGBUILDDIR>>/SurgSim/Devices/DeviceFilters/PoseIntegrator.cpp:16:
/<<PKGBUILDDIR>>/SurgSim/Math/Matrix.h:127:13: note: candidate: ‘template<class T, int MOpt, int VOpt> void SurgSim::Math::computeAngleAndAxis(const Eigen::Matrix<T, 3, 3, MOpt>&, T*, Eigen::Matrix<T, 3, 1, VOpt>*)’

After poking around a bit I believe this mismatch is due to changes in libeigen3 around the return type of pose.rotation()

Eigen/src/Geometry/Transform.h
- EIGEN_DEVICE_FUNC const LinearMatrixType rotation() const;
+ typedef typename internal::conditional<int(Mode)==Isometry,ConstLinearPart,const LinearMatrixType>::type RotationReturnType;
+ EIGEN_DEVICE_FUNC RotationReturnType rotation() const;

I played a bit with a non-Isometry Mode setting to try to revert that, but the non-Isometry mode created many new problems and I'm less than certain that change is valid.