Pdaf ipda refactor

[jorgenfj]

Split the steps function of PDAF and IPDA into separate predict and update functions.
Added z_likelihood function.
Removed redundant z_likelihood calculation in IPDA.

Fixed this if-statement bug that negated the function of the config arg.

        if (!(z_measurements.cols() == 0 &&
              config.ipda.update_existence_probability_on_no_detection)) {
            existence_probability_upd = existence_prob_update(
                z_meas_inside, z_pred, existence_prob_pred, config);
        }

[codecov]

Codecov Report

❌ Patch coverage is 92.68293% with 6 lines in your changes missing coverage. Please review.
✅ Project coverage is 84.88%. Comparing base (8f3a31c) to head (2d81e5e).
⚠️ Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
...iltering/include/vortex_filtering/filters/ipda.hpp	91.17%	1 Missing and 2 partials ⚠️
...iltering/include/vortex_filtering/filters/pdaf.hpp	91.66%	0 Missing and 3 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main      #33      +/-   ##
==========================================
+ Coverage   84.75%   84.88%   +0.13%     
==========================================
  Files          37       37              
  Lines        1882     1813      -69     
  Branches     1214     1220       +6     
==========================================
- Hits         1595     1539      -56     
+ Misses         57       50       -7     
+ Partials      230      224       -6     

Flag	Coverage Δ
unittests	84.88% <92.68%> (+0.13%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...ering/include/vortex_filtering/filters/immipda.hpp	91.35% <100.00%> (+1.23%)	⬆️
vortex-filtering/test/ipda_test.cpp	95.23% <100.00%> (-0.22%)	⬇️
vortex-filtering/test/pdaf_test.cpp	86.70% <100.00%> (-0.66%)	⬇️
...iltering/include/vortex_filtering/filters/ipda.hpp	88.37% <91.17%> (+5.03%)	⬆️
...iltering/include/vortex_filtering/filters/pdaf.hpp	92.64% <91.66%> (+10.67%)	⬆️

... and 15 files with indirect coverage changes

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[Andeshog]

Pass dyn_mod as reference here perhaps?

Also, using strong typing would make it much easier to use such a function IMO. Something like this maybe (also put the models together to decrease the number of inputs)

static PredictedState predict(const Models& models, const double dt, const State& prev_est_state, const Arr_zXd& z_measurements, Config& config)

Another thing, does it make sense to move the config update to a function call after this function is called, since it takes inputs and outputs to/from predict anyway. Reason; I would not expect a function named predict to also update one of the inputs

[Andeshog]

The same applies to update below

[Andeshog]

guess it would be nice to state the source as well, not just the equation number 😅

[Andeshog]

Make config const ref perhaps

[Andeshog]

The comments apply up to several places btw, didnt want to repeat too much. And other than that LGTM (Approval with suggestions)