Follow-up: provide 3-sphere with additional features #31617
Description
This is a follow-up of #30804. This ticket provides:
- a Lie group structure of S^3 (?)
- a global frame of S^3
- Hopf coordinates
CC: @egourgoulhon @tscrim @tobiasdiez
Component: manifolds
Issue created by migration from https://trac.sagemath.org/ticket/31617