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WIP: Re-group the covariance transport

Fabian Klimpel requested to merge GroupCovarianceTransport into MoveStepperState

Since the EigenStepper and the StraightLineStepper use the same math to transport their covariance matrices this MR merges both into a single file. Additionally the workflow is slightly changed to make the individual steps clearer and more maintainable (wrt !653)

The MR is a piece of !692 (closed).

Edited by Robert Johannes Langenberg

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