Implement `translate_diff` and `inv_diff` for all groups (#679)

[olivierverdier]

The main work of implementing translate_diff for all groups is done.

The main method that has to be implemented on any given group is adjoint_action!, the rest is done automatically.

• [x] Replace translate_diff by adjoint_action
• [x] Implement inv_diff as well
• [x] Fixes for RealCircleGroup
• [x] Fixes for SpecialEuclidean
• [x] ~Add the extra erroring methods for SemiDirectProductGroup~ (no longer necessary)
• [x] Fix the "wrapped" SpecialEuclidean cases (for instance, ConnectionManifold(SpecialEuclidean(2), CartanSchoutenMinus()))
• [x] ~Implement inv_diff for Product/Power ~manifolds~ groups~ (no longer necessary)
• [x] ~Add tests with a product/power ~manifold~ groups containing a SpecialEuclidean or CircleGroup, two groups which do not use the left-invariant storage of tangent vectors~ (no longer necessary)
• [x] Implement adjoint_action for SpecialEuclidean
• [x] Use left invariant storage for SpecialEuclidean
• [x] Implement exp and log for Lie group based on exp_lie and log_lie

[mateuszbaran]

I've merged #732 so this PR is already merged indirectly into master.