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22.0-cleanup-TrkKalmanFitter

Shaun Roe requested to merge sroe/athena:22.0-cleanup-TrkKalmanFitter into master

This only addresses the KalmanSmoother code, and is primarily a bug fix for ATLASRECTS-5739; a 'moved' unique pointer is used on the next iteration of a loop. Rather than moving an existing pointer, I have cloned the object to a new unique pointer. CPU Performance appears to be identical within the limits of the measurement accuracy (running q431). Other minor cleanup deletes commented lines and uses cmath std:: math functions.

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