Add reweighting action that tracks measurement likelihood

[hidmic]

Feature description

beluga::actions::reweight computes measurement likelihood given a state hypothesis (aka particle) and promptly uses it to shape the posterior distribution. However, there are particle filters that perform additional steps based on raw likelihood (e.g. MH-AMCL at #52 is an obvious example of this).

We should add functionality to keep likelihood figures around after a reweight.

Implementation considerations

I'm naively inclined towards adding a view that computes likelihoods, and then use that in a beluga::actions::reweight overload to update weights and optionally store likelihood in the particle iff the particle has storage for it, but I'm open to other ideas.

[hidmic]

FYI @JesusSilvaUtrera