refactor(autoware_kalman_filter): rewrite using modern C++ without API breakage

[youtalk]

Description

This PR includes refactoring to improve memory efficiency, readability and safety without breaking the API.

Related links

• refactor(autoware_vehicle_info_utils): rewrite using modern C++ without API breakage #343
• refactor(autoware_geography_utils): rewrite using modern C++ without API breakage #345

How was this PR tested?

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

• You've checked our contribution guidelines.
• Your PR follows our pull request guidelines.
• All required CI checks pass before marking the PR ready for review.

[codecov]

Codecov Report

Attention: Patch coverage is 75.00000% with 1 line in your changes missing coverage. Please review.

Project coverage is 61.22%. Comparing base (4cb18f5) to head (5083bdf).
Report is 142 commits behind head on main.

Files with missing lines	Patch %	Lines
...ommon/autoware_kalman_filter/src/kalman_filter.cpp	0.00%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@             Coverage Diff             @@
##             main     #346       +/-   ##
===========================================
- Coverage   78.75%   61.22%   -17.53%     
===========================================
  Files          11       23       +12     
  Lines         193     1122      +929     
  Branches       73      441      +368     
===========================================
+ Hits          152      687      +535     
- Misses         11      397      +386     
- Partials       30       38        +8     

Flag	Coverage Δ
differential	61.22% <75.00%> (?)
total	?

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

[youtalk]

Considering the impact on downstream, I decided not to add the [[nodiscard]] attribute.
@autowarefoundation/autoware-core-global-codeowners @IshitaTakeshi @yukkysaito Please review this.

[yukkysaito]

LGTM
While I think the update function should ideally be marked with [[nodiscard]], I understand that API compatibility was prioritized in this case.