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Adapt KF fit with DirectNavigator

Xiaocong Ai requested to merge 663-kf-with-directnavigator into master

This MR fixes a problem in the DirectNavigator and split the KF fit functions into two: one for the Navigator and anther for the DirectNavigator since the fit call with DirectNavigator needs to have additional argument for the surface sequence.

The smoothing trigger is also updated.

Closes #663 (closed)

Edited by Xiaocong Ai

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