Unnecessary checks for LieGroup Expmap/Logmap/Identity

There seem to be unnecessary checks for Lie groups that are instantiated by BetweenFactor (and possibly other places). In the branch feature/Similarity3, when lines 73 through 85 in testSimilarity3.cpp are commented out (identity, Logmap, Expmap stubs), the code compiles and optimizes. These functions appear to never be called, leading me to believe the check for their existence is a bug.

Additionally, only performing an optimization with a PriorFactor does not trigger the check for the existence of these functions.

/Users/drews/git/gtsam/gtsam/base/Lie.h:177:19: error: no member named 'Logmap' in 'gtsam::Similarity3'
    return Class::Logmap(m, Hm);
           ~~~~~~~^

/Users/drews/git/gtsam/gtsam/base/Lie.h:239:3: note: in instantiation of member function 'boost::concepts::requirement<boost::concepts::failed ************boost::concepts::usage_requirements<gtsam::IsLieGroup<gtsam::Similarity3> >::************>::failed' requested here
  BOOST_CONCEPT_USAGE(IsLieGroup) {
  ^

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