Implement extended kalman filter and motion models

Description

Introduce the kalman filter and motion models for object tracking, prediction, and SLAM.

closes #6 (closed) #3 (closed)

Tasks for validation

For each of the packages in item (1):

• Source code review; identify any potential bugs and functions that are unclear in purpose or implementation
• Review the design and API documentation; the docs should be complete, and explain the purpose and implementation for each package

1. Implementation details
   1. Motion model
      1. catr model -- constant acceleration and turning rate
      2. Constant acceleration model
      3. Motion model interface to be used by kalman filters
   2. Math package
   3. autoware_blas
2. Documentation and legal
   1. Copyright headers exist on source code files
   2. The correct copyright header exists
      1. Correct copyright --> @ltbj link to the correct license
   3. The package.xml file reflects the capability of the package
   4. Design document exists