hector_pose_estimation/hector_pose_estimation_core: added support for dynamic states (full, orientation only, position/velocity only, ...)
Merge branch 'dynamic_state' into multiplicative-filter

Conflicts:
	hector_pose_estimation_core/include/hector_pose_estimation/filter.h
	hector_pose_estimation_core/include/hector_pose_estimation/filter/ekf.h
	hector_pose_estimation_core/include/hector_pose_estimation/filter/ekf.inl
	hector_pose_estimation_core/include/hector_pose_estimation/matrix.h
	hector_pose_estimation_core/include/hector_pose_estimation/measurement_model.h
	hector_pose_estimation_core/include/hector_pose_estimation/state.h
	hector_pose_estimation_core/include/hector_pose_estimation/substate.h
	hector_pose_estimation_core/include/hector_pose_estimation/system_model.h
	hector_pose_estimation_core/include/hector_pose_estimation/system_model.inl
	hector_pose_estimation_core/include/hector_pose_estimation/types.h
	hector_pose_estimation_core/src/measurements/baro.cpp
	hector_pose_estimation_core/src/measurements/gps.cpp
	hector_pose_estimation_core/src/measurements/gravity.cpp
	hector_pose_estimation_core/src/measurements/heading.cpp
	hector_pose_estimation_core/src/measurements/height.cpp
	hector_pose_estimation_core/src/measurements/magnetic.cpp
	hector_pose_estimation_core/src/measurements/poseupdate.cpp
	hector_pose_estimation_core/src/measurements/rate.cpp
	hector_pose_estimation_core/src/measurements/zerorate.cpp
	hector_pose_estimation_core/src/state.cpp
	hector_pose_estimation_core/src/system/generic_quaternion_system_model.cpp
	hector_pose_estimation_core/src/system/ground_vehicle_model.cpp
	hector_pose_estimation_core/src/system/imu_model.cpp
hector_pose_estimation_core: use preallocated Eigen types

The maximum number of state variables in 24.
hector_pose_estimation_core: added state type OrientationPositionVelocityState (without rate)
hector_pose_estimation_core: fixed orientation noise calculation
hector_pose_estimation_core: properly reset internal predictor and corrector data
hector_pose_estimation_core: prepend updated states in system status output
hector_pose_estimation_core: use OrientationPositionVelocityState as default state type