manif: Broken exp().log() in SO3/SE3

The following test is broken in SO3/SE3:

delta == delta.exp().log();

It fails roughly as often is passes. The test that was supposed to check this was not run (my bad for not fixing a copy/paste).

Note that SE3 relies on SO3 for a part, so most likely the issue comes from SO3. Note also that state.log().exp() seems to work fine and is properly tested in CI.

I added a minimal reproducible example here on branch fix/exp_log.