Enums
Enum for SE(3) element. SE(3) element can be expressed in three forms,i.e. in group, in algebra, and in vector.
Traits
a trait for transforming the SE(3) element from one form to another
Functions
SE(3) mapping vec6 to group
SE(3) mapping group to vec6
combine two vector3 (ρ θ) into one vector6 (τ)
decombine a vector6 τ into two vector3 (ρ θ)
SE(3) mapping algebra to group
SE(3) mapping vector to algebra
TODO ： CHECK for left jac and right jac conversion
SE(3) get right jacobian matrix
SE(3) mapping group to algebra
SE(3) mapping algebra to vector