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Finds the MHT distance for use in gating computations.
The measurement function is of the form h(x,d) where d is a data
structure.
The most time consuming operation is this operation
(z-h*x)'*b
Common: Estimation/KFPredict Common: Estimation/KFUpdate Common: Graphics/Plot2D Common: Graphics/TimeLabl MHT: Utilities/Residual