Move ekf_sym cython to cc#53
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Description
Using commaai/openpilot#20814 as a reference, the Cython code for ekf_sym is removed and reimplemented in C++. Additional tests are also added to test expected behavior. This is part 7 of 10 of the larger PR to fully remove cython from openpilot.
Verification
pytest examplesbefore these changes:pytest examplesafter these changes: