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WIP: Switch Kalman Filter to smooth when reaching EndOfWorld

Xiaocong Airequested to merge
599-change-mechanism-of-evoking-smoothing-in-kalmanfitter-to-that-when-propagation-reaches-endofworld into master

Closes #599 (closed)

This issue has been resolved in !698 (merged) . Thus this MR is closed.

Edited by Xiaocong Ai

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