Add Multi-model and Rao-Blackwellised versions of particle filter

[sdhiscocks]

This is a squash and clean up of commits from pull request #271, adapted to work with changes on the main branch.

TODO:

• [x] Vectorise particles
• [x] Remove new resamplers (these shouldn't be required once vectorised, as can use from_state method)
• [x] Improve tests
• [ ] ~~Add example~~ (to be done in separate PR)

[codecov[bot]]

Codecov Report

Base: 94.66% // Head: 94.82% // Increases project coverage by +0.16% :tada:

Coverage data is based on head (53a67b9) compared to base (2b69b97). Patch coverage: 96.31% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #719      +/-   ##
==========================================
+ Coverage   94.66%   94.82%   +0.16%     
==========================================
  Files         171      168       -3     
  Lines        8773     8333     -440     
  Branches     1707     1241     -466     
==========================================
- Hits         8305     7902     -403     
+ Misses        342      319      -23     
+ Partials      126      112      -14     

Flag	Coverage Δ
integration	68.73% <37.42%> (-1.29%)	:arrow_down:
unittests	92.61% <96.31%> (+1.86%)	:arrow_up:

Flags with carried forward coverage won't be shown. Click here to find out more.

Impacted Files	Coverage Δ
stonesoup/updater/particle.py	95.96% <90.69%> (-2.80%)	:arrow_down:
stonesoup/predictor/particle.py	92.95% <95.65%> (+4.95%)	:arrow_up:
stonesoup/resampler/particle.py	100.00% <100.00%> (ø)
stonesoup/types/particle.py	100.00% <100.00%> (ø)
stonesoup/types/prediction.py	100.00% <100.00%> (ø)
stonesoup/types/state.py	100.00% <100.00%> (ø)
stonesoup/types/update.py	100.00% <100.00%> (ø)
stonesoup/base.py
stonesoup/plotter.py
stonesoup/__init__.py
... and 1 more

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