This removes usage of boost::optional and boost::none in favor of
std::optional and std::nullopt.

Paul Gessinger authored 5 years ago and Paul Gessinger committed 5 years ago

Also adds an aborter to the KF to be able to terminate fitting in case
an unrecoverable error occurs.

Paul Gessinger authored 5 years ago and Paul Gessinger committed 5 years ago

The gain matrix smoother and updator now accept MJ and TSProxies respectively.
The KF is changed to accomodate this. The KF now does not pre-fill measurements
into track states, but appends them to the MJ as it goes along. Calibration is
now done by the KF itself, the GainMatrixUpdator loses the calibrator object and
doesn't to it anymore.

WARNING: The Updator currently uses dynamic matrices! This is slow and will be
replaced with fixed size matrix arithmetic again!

The Updator and Smoother tests are updated to support the new arguments, but
expect the same calculation results as before.