[#1076] Use intersection of variables when copying state

Description

When changing the motion model of the state estimator, I bumped into an issue that the measurements could not be copied if the tracked state would not hold the variables that the measurement measures. This is important as our measurements generally measure in 3D, while we might want to track the state in 2D, so a reduction to a different state would be needed.

This MR introduces a trait to find an intersection of types in a tuple and uses this trait to copy only those elements of the GenericVectors that are present in both sides of the copy operation. See the tests for more details.

Related to #1076 (closed)

Notes for reviewer

I decided to put this all into a single MR, but if you feel it should be split I am happy to do that too.

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