Coherency with StateMatrix StateVector ControlMatrix ControlVector types

[markusgft]

@jcarius had reported the following

Many classes use their own typedefs such as

typedef Eigen::Matrix<SCALAR, STATE_DIM, STATE_DIM> state_matrix_t;

This will lead to implicit conversions between Eigen::Matrix and ct::core::StateMatrix.

Proposed solution As much as possible, re-use base-class typedef

typedef typename Base::state_matrix_t state_matrix_t;

If not available, use the CT type.