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Add SE3.exp_map() and SE3.log_map() #71
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mhmukadam
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ddetone
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Refactor Manifold and LieGroup API to remove unnecessary static functions and returned jacobians
suddhu
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* add SE3 defintions * add initialization method * modify test_so3.check_SO3_to_quaternion to handle cases near pi * add SE3.hat and SE.vee * add SE3.adjoint * add SE3.adjoint, vee and hat * backup before switching to taoshaf.add_SE3 * add support for single x_y_z_quaternion * modify SO3 * Remove repeated if in SE3 construction * SE3.exp added but not tested * add SE3.log_map() * SE3.exp_map() and SE3.log_map() are tested * simplify test_se3.py * add coments to test_se3.py * add comments to test_so3.py
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