ROVI-org / auto-soh / 14542332597

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Reduce the number of copies made when running UKF (#147)

* Bug fix: size is batch_size * num_params, not num_params

* Make a copy for the non-op converter

I believe this is how @vventuri had it originally!
We need it now because I'm now relying on the outputs
of the functions being different objects than what
is provided as inputs

* Remove utility functions, unused kwargs

We are no longer using kwargs passed to the model via step

* Remove copies when executing models

* Test then fix getting estimated state

* Clarify a point in the documentation

* Put the helper functions back in

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