correct array layout during normalization and interpolation

[CagtayFabry]

• simplify normalize functions
• make sure normalization is carried out on vectors (not matrix) during LCS construction
• ensure correct matrix layout in xr_interp_orientation_in_time
• remove duplicate checks in check_coordinate_system

[codecov]

Codecov Report

Merging #25 into master will not change coverage.
The diff coverage is 100.00%.

@@            Coverage Diff            @@
##            master       #25   +/-   ##
=========================================
  Coverage   100.00%   100.00%           
=========================================
  Files            4         4           
  Lines          932       930    -2     
=========================================
- Hits           932       930    -2     

Impacted Files	Coverage Δ
weldx/transformations.py	100.00% <100.00%> (ø)
weldx/utility.py	100.00% <100.00%> (ø)

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[vhirtham]

Thanks for the fix!