Refactor existing Kalman Filter into an abstract base class with linear and extended subclasses

[sunghyuneun]

Description of the task

Our codebase currently uses just a Linear Kalman Filter. We will be implementing a separate Extended Kalman Filter class sometime in the future (for robot localizer), and so after that, we want to create an abstract class of a KalmanFilter and extend a LinearKalmanFilter and a ExtendedKalmanFilter off of it.

This work depends on the Extended Kalman Filter class being implemented.

Acceptance criteria

• Create an abstract base class KalmanFilter defining the core interface (such as predict, update)
• Extract existing Linear Kalman Filter into implementation that extends off this base class
• Extract (soon to be) existing Extended Kalman Filter into implementation that extends off this base class

Blocked By

[sunghyuneun]

wait idk if we're actually doing this