Add ProductParameterization

Often a parameter block is the Cartesian product of a number of
manifolds. For example, a rigid transformation SE(3) = SO(3) x R^3
In such cases, where you have the local parameterization
of the individual manifolds available,
ProductParameterization can be used to construct a local
parameterization of the cartesian product.

Change-Id: I4b5bcbd2407a38739c7725b129789db5c3d65a20