Jaxlie

New tangent-space optimization interface: `jaxlie.manifold.grad()`, `jaxlie.manifold.value_and_grad()`, `jaxlie.manifold.zero_tangents()`, `jaxlie.manifold.project_all()`.

Compatibility with `jax<=0.2.20`.

Runtime shape checks, typing tweaks.

Port to `jax_dataclasses`