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WIP: Kf based alignment

Xiaocong Ai requested to merge KF-based-alignment into master

Implement a KalmanFitter-based alignment algorithm prototype. Initial ideas for tasks to be done for this purpose:

  • Add derivative of residual with respect to alignment parameters in stepper
  • Extend KalmanFitter to get the global covariance matrix of parameters at all track states
  • ...

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