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Fix slerp at coincident/antipodal endpoints, and SO2/SE2.interp1() #566

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Run time

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Job	Run time
unittest (windows-latest, 3.13)	1m 19s
unittest (ubuntu-22.04, 3.10)	59s
unittest (macos-latest, 3.12)	41s
unittest (macos-latest, 3.13)	52s
unittest (ubuntu-22.04, 3.13)	40s
unittest (macos-latest, 3.11)	1m 3s
unittest (ubuntu-22.04, 3.11)	48s
unittest (macos-latest, 3.10)	57s
unittest (windows-latest, 3.10)	1m 13s
unittest (ubuntu-22.04, 3.12)	44s
codecov	1m 1s
all-unittests-passed	4s
sphinx / sphinx	-1s
	10m 20s