Implement tests for Euler conversion with jets

https://github.com/ceres-solver/ceres-solver/issues/965

Change-Id: I6bdabf5ee09c000e49ea1757fde724d4bc4ccb92

include/ceres/rotation.h

@@ -610,7 +610,7 @@ void RotationMatrixToEulerAngles(
   //   [-pi, pi) x [0, pi / 2) x [-pi, pi)
   // which is enforced here
   if constexpr (EulerSystem::kIsProperEuler) {
-    const T kPi(constants::pi_v<T>);
+    const T kPi(constants::pi_v<double>);
     const T kTwoPi(2.0 * kPi);
     if (euler[1] < T(0.0) || ea[1] > kPi) {
       euler[0] += kPi;