* moved some quaternion calculation code from UnitQuaternionManifold to quaternion_algebra
* extended the support for different scalar types
support non double scalar type in quat2AxisAngle
added templated nuermicDiff function to NumericalDiff.hpp. For some more comfort.
started quatLog and quatExp jacobian tests
adapted sm_python to changes in quaternion_algebra
got rid of the order 4 power series calculations in quaternion_algebra and replaced with order two versions. thats enough and here the forth root seems to be good as threshold.