Port improvements to the state estimator

Description

This MR ports the improvements made to the state estimator internally:

• History is added to deal with out-of-order measurements
• Time is dealt with in a different manner now. We assume the predictions to happen on a steady grid of timestamps and we initialize this grid once and generate new predictions on timer always after an existing observation. This gets rid of many timing-related issues.

Closes #867 (closed)

Notes for reviewer

Most changes are happening in history.hpp and steady_time_grid.hpp files. All the other changes are mostly boilerplate. Most of the added lines of code are from the tests for the new classes.

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Checklist

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