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to discuss : made LocalParametrizationQuaternion template & use partial specialization

Jeremie Deray requested to merge LocalParamQuat_template into master

Since LocalParametrizationQuaternion private member delta_reference_ is set at instantiation, does not change and is used to specialize computation it is better to use a template partial specialization scheme.

If having the empty template bracket when using the default value DQ_GLOBAL is a killer, we can always consider typedef.

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