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added optional to set custom residual function in base filter, mainly for angular states/measurements#1

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timresink wants to merge 1 commit intomasterfrom
feature/residual-measurement-subtraction
Open

added optional to set custom residual function in base filter, mainly for angular states/measurements#1
timresink wants to merge 1 commit intomasterfrom
feature/residual-measurement-subtraction

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