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PrKalmanFilter: add alignment derivatives & classical smoother iteration

Christoph Hasse requested to merge chasse_for_alignment into master

Making progress on #179

New features in this MR:

  • Implementation of a minimal PrKalmanFitResult similar to the existing KalmanFitResult. This is holds information for the alignment. Extra benefit is that the monitoring can access the fitnodes via this object too.
  • Implementation of a classical smoother post-processing step, which also persists the gain matrix needed for the alignment. @wouter what do you think? This means the fitnodes would arrive at the alignment ready to rock and roll 😉, thus the alignment wouldn't have to perform this fitting step anymore.
  • Implement the alignment derivatives, for now this is using the formalism that was in the TrackProjector.cpp. I still plan to update this to using the new formalism once I've sat down and checked it all, but this allows us to progress independently of me figuring how to do basic math... 🙈

moving related changes to the TrackMasterFitter to !2438 (merged)

cc: @ldufour @wouter @sborghi @smalde

Edited by Christoph Hasse

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