[Kalman] KalmanEigen class

sbs.conf

src/shared/kalman/ExtendedKalmanEigen.cpp

src/shared/kalman/ExtendedKalmanEigen.h

src/shared/kalman/KalmanConfig.h

src/shared/kalman/KalmanEigen.cpp

src/shared/kalman/KalmanEigen.h

src/shared/math/Quaternion.h

src/shared/math/SkyQuaternion.cpp

src/shared/math/SkyQuaternion.h

src/tests/catch/test-kalman-eigen.cpp

src/tests/catch/test-kalman.cpp

src/tests/kalman/test-kalman-benchmark.cpp

src/tests/kalman/test-kalman-data.h

src/tests/kalman/test-kalman-eigen-benchmark.cpp