Create kornia-liealg crate with basic implementation of lie algebra on top of glam-rs

              this probably could be the starting point for a kornia-liealg crate (i'll open a separated ticket for this)
ref: https://kornia.readthedocs.io/en/latest/geometry.liegroup.html

_Originally posted by @edgarriba in https://github.com/kornia/kornia-rs/pull/263#discussion_r1993150074_
            