3D Implementation of the Hierarchical Optimizer

[Algomorph]

• [x] Rebase on master before continuing
• [x] Templatize math functions for 2d/3d (#62)
• [x] Templatize pyramid for 2d/3d (#63)
• [x] Templatize field_warping cpp/tpp/hpp set
• [x] Templatize optimizer class itself for 2d/3d ~(use the existing code for 3d case?)~
• [x] Templatize OptimizationIterationData & ConvergenceReport & supporting classes for 2d/3d
• [x] Templatize optimizer_with_telemetry class for 2d/3d ~- [ ] Write unit tests for 3d case~ (moved to separate issue)