Add more SE2 and SE3 performance dispatches

[Affie]

• Added get_coordinates and get_vector specialized dispatches: vee and hat do not always seem to dispatch without allocations and there are places where we use get_vector/coordinates.
• Not only SVector for coordinates: we take the coordinates from a larger vector in some places.

[Affie]

@mateuszbaran would you mind helping to implement the performance dispatches I tried to do in this PR? I thought I could help, but I'm still figuring out Manifolds.jl

[mateuszbaran]

Sure, I will check it out.

[codecov]

Codecov Report

Merging #660 (9ca5550) into master (106a8f3) will increase coverage by 0.00%.
The diff coverage is 100.00%.

@@           Coverage Diff           @@
##           master     #660   +/-   ##
=======================================
  Coverage   99.22%   99.22%           
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  Files         106      106           
  Lines       10481    10488    +7     
=======================================
+ Hits        10400    10407    +7     
  Misses         81       81           

Files	Coverage Δ
src/groups/special_euclidean.jl	99.63% <100.00%> (+<0.01%)	⬆️

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[Affie]

Not only SVector for coordinates: we take the coordinates from a larger vector in some places.

It looks like the view causes allocations in some instances, so perhaps your original SA is better. Will it be a problem with the coordinates c::AbstractVector and not s::SArray. What I tested so far looks like it doesn't have allocations.

[mateuszbaran]

It looks like the view causes allocations in some instances, so perhaps your original SA is better. Will it be a problem with the coordinates c::AbstractVector and not s::SArray. What I tested so far looks like it doesn't have allocations.

SA should not be a problem.