Implement signed curvature #213

Job	Run time
formatting	1m 18s
lint	26m 59s
test (noetic)	15m 43s
test (galactic)	11m 38s
test (humble)	9m 20s
full_conan_installation (3.8)	13m 41s
full_conan_installation (3.9)	14m 21s
full_conan_installation (3.10)	13m 25s
full_conan_installation (3.11)	13m 36s
full_conan_installation (3.12, manylinux_2_31_x86_64, conanio/gcc10:latest)	13m 49s
	2h 13m 50s

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