Several improvements and fixes

[xEnVrE]

Within this PR:

Filtering functions

• Add the possibility to set the sampling time of a state model via StateModel::setSamplingTime().

  although the user could provide this parameter in the constructor of their custom class inheriting from StateModel, this does not allow changing the sampling time online. Indeed, the state model is tipically moved via a unique_ptr to a bfl predictor which allows accessing the state model via the the getStateModel() method. However, this only exposes the methods of the StateModel interface, not custom methods provided by the user.

• Implement method VectorDescription::dof_size() providing the number of degrees of freedom associated to the vector

  this might be different from VectorDescription::total_size() in case quaternion components are used

Filtering utilities

• Support quaternions components in bfl::sigma_point::sigma_point()
• Support quaternions components in bfl::sigma_points::unscented_transform()
• Fix bfl::sigma_points::UTWeight constructor such that it uses the number of degrees of freedom of the vector, rather than the total size of the vector, to decide the number of sigma points to be initialized

  using the total size would work for Euclidean states but not for quaternion states. Using the degrees of freedom is correct in both cases instead

• Change signature of methods bfl::utils::sum_quaternion_rotation_vector(), bfl::utils::diff_quaternion and bfl::utils::mean_quaternion() such that they can support arguments inheriting from Eigen::MatrixBase<T> with different instances of T

Changelog

Changelog has been updated accordingly

[xEnVrE]

Thanks!