External Lie group interface

[pettni]

Backwards-compatible for now

[codecov-commenter]

Codecov Report

Merging #15 (85a6489) into master (cd346e9) will increase coverage by 0.01%.
The diff coverage is 100.00%.

@@            Coverage Diff             @@
##           master      #15      +/-   ##
==========================================
+ Coverage   99.79%   99.81%   +0.01%     
==========================================
  Files          27       30       +3     
  Lines        1498     1634     +136     
==========================================
+ Hits         1495     1631     +136     
  Misses          3        3              

Impacted Files	Coverage Δ
include/smooth/internal/bundle.hpp	100.00% <ø> (ø)
include/smooth/internal/c1.hpp	100.00% <ø> (ø)
include/smooth/internal/se2.hpp	100.00% <ø> (ø)
include/smooth/internal/se3.hpp	100.00% <ø> (ø)
include/smooth/internal/so2.hpp	100.00% <ø> (ø)
include/smooth/internal/so3.hpp	100.00% <ø> (ø)
include/smooth/internal/tn.hpp	100.00% <ø> (ø)
include/smooth/internal/utils.hpp	100.00% <ø> (ø)
include/smooth/spline/dubins.hpp	100.00% <ø> (ø)
include/smooth/bundle.hpp	100.00% <100.00%> (ø)
... and 29 more

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