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Reduce duplication in the failure handling methods for UKI/UTKI #478

@odunbar

Description

@odunbar

Right now e.g. in UKI, we have to call different methods update_ensemble_analysis! and succ_gauss_analysis!.

function update_ensemble_analysis!(
uki::EnsembleKalmanProcess{FT, IT, U},
u_p::AbstractMatrix{FT},
g::AbstractMatrix{FT},
) where {FT <: AbstractFloat, IT <: Int, U <: Unscented}

function succ_gauss_analysis!(uki, u_p, g, failed_ens)

This is confusing, and at the very least, much of the logic is shared.

Possible solution.

As these methods largely derive from calling construct_mean or construct_successful_mean (and the same with cov) , there should be a way of safely removing much of the code duplication outside of these methods,

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