ESTIMATION - QUEST Unit Tests

[Mr-Msf]

Develop unit tests for the QUEST state estimation approach to determine whether it functions properly under a wide range of conditions, including edge cases.

Use pytest and place them in a tests folder at the top level of the project.

[wlodaralex]

Things to test for:

• Outputs are mathematically consistent with expectations
• Outputs are kinematically correct (e.g. quaternions are unitary)
• Invalid inputs are handled gracefully