CayleyChart derivative needed

[Jing Dong]

Compile passes, unit test fails on Linux

 26/201 Test  #26: testSO3 ................................***Failed    0.00 sec
/home/jing/borg/gtsam/gtsam/geometry/tests/testSO3.cpp:121: Failure: "Exception: This method is required by the new concepts framework but has not been implemented yet." 
There were 1 failures

        Start  29: testRot3
 29/201 Test  #29: testRot3 ...............................***Failed    0.00 sec
/home/jing/borg/gtsam/gtsam/geometry/tests/testRot3.cpp:686: Failure: "Exception: Rot3::CayleyChart::Retract Derivative" 
There were 1 failures

        Start  37: testPose3
 37/201 Test  #37: testPose3 ..............................***Failed    0.00 sec
/home/jing/borg/gtsam/gtsam/geometry/tests/testPose3.cpp:776: Failure: "Exception: Rot3::CayleyChart::Retract Derivative" 
There were 1 failures

[Frank Dellaert]

SO3 should be fixed with issue #195. CayleyChart is indeed something we need. I'll rename this issue.