docs: Add detailed documentation to complex code sections

[ChristopherRabotin]

This change adds detailed documentation to some of the more complex parts of the ANISE codebase.

• Almanac::translate and Almanac::rotate: Added docstrings and inline comments to explain the frame tree traversal logic, aberration corrections, and DCM composition.
• DataSet encoding/decoding: Added comments to the Encode and Decode implementations to clarify the custom binary format.
• DAF parsing: Added documentation to the DAF parsing logic to explain how the file is read and interpreted.

This documentation will make it easier for future developers to understand and maintain these critical parts of the library.

[gemini-code-assist]

Summary of Changes

Hello @ChristopherRabotin, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

This pull request significantly enhances the clarity and maintainability of the ANISE codebase by integrating extensive documentation into several critical and complex modules. The changes aim to demystify core functionalities such as ephemeris and orientation calculations, custom data serialization, and NAIF DAF file parsing, making it easier for developers to understand and contribute to the library. Additionally, a new architectural overview document provides a foundational understanding of the system's design principles.

Highlights

• Enhanced Documentation for Core Functions: Detailed algorithm descriptions and inline comments have been added to Almanac::translate and Almanac::rotate functions, clarifying the complex logic behind frame tree traversal, aberration corrections, and DCM composition.
• Clarified Data Serialization: Inline comments were added to the DataSet encoding and decoding implementations, providing a clear explanation of the custom binary format used for ANISE's internal data types.
• Improved DAF Parsing Explanation: The DAF parsing logic now includes comprehensive docstrings and inline comments, detailing the structure of DAF files and the step-by-step process of reading and interpreting their contents.
• New Architecture Overview Document: A new markdown file, anise/arch.md, has been added to provide a high-level overview of the ANISE architecture, covering data storage, memory allocation, querying mechanisms, error handling, and illustrative querying examples.

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[gemini-code-assist]

Code Review

This pull request significantly improves the documentation across several complex areas of the codebase, including the overall architecture, frame translation and rotation logic, DAF parsing, and DataSet serialization. The new documentation and inline comments are clear, accurate, and will be very helpful for future development and maintenance. I've found one high-severity issue in the DataSet decoding logic where malformed input could cause a panic, and I've provided a suggestion to make it more robust.