Lie Algebra methods for SO(2),SO(3),SE(2),SE(3)

// structs

template <unsigned int N>
struct mrpt::poses::Lie::Euclidean;

template <>
struct mrpt::poses::Lie::SE<3>;

template <>
struct mrpt::poses::Lie::SE<2>;

template <unsigned int n>
struct mrpt::poses::Lie::SE;

template <>
struct mrpt::poses::Lie::SO<3>;

template <unsigned int n>
struct mrpt::poses::Lie::SO;

template <>
struct mrpt::poses::Lie::SO<2>;