Fixed Geometry module failures.

Removed default parameter from Transform.
Removed the TransformXX typedefs.
Removed references to TransformXX from unit tests and docs.
Assigning Transforms to a sub-group is now forbidden at compile time.
Products should now properly support the Isometry flag.
Fixed alignment checks in MapBase.

test/main.h

@@ -144,7 +144,7 @@ namespace Eigen
           a;                                                      \
           VERIFY(Eigen::should_raise_an_assert && # a);           \
         }                                                         \
-        catch (Eigen::ei_assert_exception e) { VERIFY(true); }    \
+        catch (Eigen::ei_assert_exception& e) { VERIFY(true); }   \
         Eigen::report_on_cerr_on_assert_failure = true;           \
       }