Add Lie group capabilities to NavState #3276

Job	Run time
ubuntu-clang-deprecated Debug	22m 27s
ubuntu-clang-deprecated Release	23m 14s
ubuntu-clang-quaternions Debug	23m 2s
ubuntu-clang-quaternions Release	23m 36s
ubuntu-clang-tbb Debug	23m 20s
ubuntu-clang-tbb Release	24m 53s
ubuntu-clang-cayleymap Debug	23m 31s
ubuntu-clang-cayleymap Release	23m 17s
ubuntu-clang-system-libs Debug	22m 13s
ubuntu-clang-system-libs Release	23m 20s
ubuntu-no-boost Debug	23m 4s
ubuntu-no-boost Release	22m 57s
ubuntu-no-unstable Debug	18m 30s
ubuntu-no-unstable Release	19m 26s
	5h 16m 50s

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