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Add the outlier rejection in KF

Merged Xiaocong Ai requested to merge KF-with-outlier-rejection into master

This MR adds the outlier rejection plugin during Kalman filtering which is an re-implementation of what's included in !652 (closed). The stepping state will not be updated to the filtering parameter if the measurement is determined to be outlier. The void outlier finder will return false for all measurements.

Edited by Xiaocong Ai

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