Rename geometry from matrix constructor overloads

[auscompgeek]

See #119 for context.

Declaring numpy as a dependency is a no-go, but also we want to avoid importing numpy where possible. When using OpenBLAS (as we do for the roboRIO) importing numpy will initialise OpenBLAS, and OpenBLAS will allocate memory regions, which adds memory pressure.

Also, disable the keepalive inference for the various geometry constructors. These references aren't held after the constructor returns.

Depends on:

• Allow renaming constructor overloads to static methods robotpy-build#241
• Allow disabling keepalive inference for constructors robotpy-build#242

[virtuald]

LGTM