7 parameter Helmert #9
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It inherits from HelmertTranslation as much as possible. It seems as the right thing to do, but it can turn out problematic in the future. Seems to work as intended. The Operator can not estimate parameters yet. That's the next step.
`Operator.can_estimate` modified to not use matrices of zeros, since that would cause the helmert estimator to throw RuntimeWarnigs about division by zero.
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Rather basic implementation of 7 parameter helmert estimation but this gets the ball rolling. The estimation only works with the small angle approximation and doesn't take any coordinate uncertainties or weighting into account.