Add bindings for `Eigen::Transform` space transformation classes

[ManifoldFR]

The <Eigen/Geometry> module includes support for 2D and 3D spatial transformations, as outlined here:

https://eigen.tuxfamily.org/dox/group__TutorialGeometry.html

It could be interesting to add bindings for these, as they could be useful for e.g. 3D graphics applications. We don't use them in Pinocchio which has its own SE3 class, however.