Add Lie group capabilities to NavState #3142

Job	Run time
ubuntu-clang-deprecated Debug	21m 5s
ubuntu-clang-deprecated Release	22m 34s
ubuntu-clang-quaternions Debug	21m 14s
ubuntu-clang-quaternions Release	22m 38s
ubuntu-clang-tbb Debug	23m 1s
ubuntu-clang-tbb Release	24m 41s
ubuntu-clang-cayleymap Debug	21m 34s
ubuntu-clang-cayleymap Release	22m 46s
ubuntu-clang-system-libs Debug	21m 33s
ubuntu-clang-system-libs Release	22m 32s
ubuntu-no-boost Debug	22m 0s
ubuntu-no-boost Release	22m 40s
ubuntu-no-unstable Debug	17m 35s
ubuntu-no-unstable Release	18m 47s
	5h 4m 40s

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