Adds a Lie-Group aware differentiable spline curve implementation#2212

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BrettRD wants to merge 17 commits intoborglab:developfrom

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Commits on Aug 4, 2025

Commits on Aug 6, 2025

adds CDF for IrwinHall and exposes PiecewisePolynomial for testing
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Commits on Aug 7, 2025

clean up and adds cumulative spline trajectory
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Commits on Aug 13, 2025

adds AsVectorSpace CRTP manifold to vectorspace adaptor
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extends AsVectorSpace tests over common Cal3 types, adds test for CartesianProduct between multiplicative and additive groups.
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Commits on Aug 14, 2025

Commits on Aug 21, 2025

tidy up and correct types in example
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