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Implentation of AugKF_dpe

Loic Huder requested to merge develop into master

Implemented a new algo closely related to AugKF that takes the diffusion as a contribution of ER.

The governing equation is now : \dot{B} = A(B)U + ER

⚠ This algo is intended to replace the previous AugKF where the computation of diffusion is not scientifically right.

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