fix(base): export tr2pos2, pos2tr2, tr2adjoint2; rename tradjoint2

[petercorke]

• Rename tradjoint2 to tr2adjoint2 for naming consistency with 3D (tr2adjoint)
• Add deprecated tradjoint2 alias for backward compatibility (version 1.1.16)
• Export previously internal functions: pos2tr2, tr2pos2, tr2adjoint2
• Update tests to use new name; add deprecation warning test

All 19 transforms2d tests pass. Backward compatibility maintained via DeprecationWarning with version info.

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[petercorke]

Merge-order suggestion across the currently open PRs, based on a full file-overlap check across all of them. Nothing here is a conflict with anything already merged — these are parallel PRs sharing some source files with each other, so a rebase will likely be needed wherever paths cross, regardless of order.

Recommended order:

1. Fixes to base.plot_box() #179 (fix/base-plot-box) — already approved, CI green, ready now
2. Fix/twist pitch clean #196 (fix/twist-pitch-clean) — isolated to twist.py
3. test: force headless Matplotlib backend for local + CI test runs #197 (fix/headless-tests-locally) — isolated to test files only
4. docs: fix Sphinx docstring formatting and reST syntax errors #195 (docs/sphinx-docstring-fixes) — touches ~18 files, overlaps most of the PRs below; docstring-only/low-risk, so merging it here means the functional PRs below each only rebase against it once
5. feat(pose,quaternion): add __imatmul__ (@=) operator #199 (feat/imatmul) — only conflicts with refactor: consistent printline() across pose and quaternion classes #200
6. fix(base): export tr2pos2, pos2tr2, tr2adjoint2; rename tradjoint2 #194 (fix/export-base-functions) — conflicts with perf: defer Matplotlib import until something actually plots #198 and refactor: consistent printline() across pose and quaternion classes #200 (this one)
7. perf: defer Matplotlib import until something actually plots #198 (perf/lazy-matplotlib-import) — conflicts with fix(base): export tr2pos2, pos2tr2, tr2adjoint2; rename tradjoint2 #194 and refactor: consistent printline() across pose and quaternion classes #200
8. refactor: consistent printline() across pose and quaternion classes #200 (refactor/printline) — touches the most shared surface (conflicts with fix(base): export tr2pos2, pos2tr2, tr2adjoint2; rename tradjoint2 #194, perf: defer Matplotlib import until something actually plots #198, feat(pose,quaternion): add __imatmul__ (@=) operator #199); merging it last means it absorbs one final rebase instead of three others rebasing against it