Faster SE(3) and SE_2(3) exponential maps #3453

Job	Run time
ubuntu-clang-deprecated Debug	22m 48s
ubuntu-clang-deprecated Release	23m 37s
ubuntu-clang-quaternions Debug	23m 19s
ubuntu-clang-quaternions Release	24m 4s
ubuntu-clang-tbb Debug	23m 55s
ubuntu-clang-tbb Release	25m 36s
ubuntu-clang-cayleymap Debug	22m 54s
ubuntu-clang-cayleymap Release	24m 6s
ubuntu-clang-system-libs Debug	23m 2s
ubuntu-clang-system-libs Release	23m 20s
ubuntu-no-boost Debug	22m 41s
ubuntu-no-boost Release	23m 52s
ubuntu-no-unstable Debug	19m 12s
ubuntu-no-unstable Release	19m 39s
	5h 22m 5s

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