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Properly terminate nonlinear_kalman_filter if non-positive definite m…

Merged Properly terminate nonlinear_kalman_filter if non-positive definite m…
JohannesPfeifer:patch-3 into master
Merged Johannes Pfeifer requested to merge JohannesPfeifer:patch-3 into master

…atrices are encountered

Otherwise, crashes can happen during mode-finding

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