added types to SX{2,3} unit tests for adjoint and improved deprecated macro

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updated RxSO3 and Sim3 (Sim3 Mul,Map unit test fails completely)
bug fix related to RxSO3/Sim3 Map & further polishing
templated tests for all Lie groups
formating fixes: auto-identation only
fixing 'make install'
Update README
Removed Doxygen documentation for now...