Add a evaluate_with_jacobian default method to ProcessModel and MeasurementModel

[CharlesCossette]

Add an optionally-overridable method to process/meas models that allows the user to return both the evaluation and jacobian with a single function call. This could speed things up a lot in cases where these models have a lot of common calculations between evaluate/jacobian. The default implementation will simple call evaluate followed by jacobian.

Also, the algorithms all need to be switched to actually call this new method now.

This wont be a breaking change.