[T 11/15] Implement the hypothesis filtering for the leadership filter.

[hmzh-khn]

Implement the hypothesis filtering for the leadership filter, including

• code that follows the derivation laid out in Write up the formulation of the leadership filter. #8
• unit tests that ensure that the code works properly with arbitrarily selected vectors

ETA: T 11/15

[hmzh-khn]

1. Currently in the process of implementing a particle filter
2. Once this is complete, will implement a mixed particle filter that can include discrete state.
3. This final particle filter will be used to complete this task.