Implement signed curvature (#355) #215

Job	Run time
formatting	1m 14s
lint	26m 48s
test (noetic)	18m 16s
test (galactic)	11m 44s
test (humble)	8m 42s
full_conan_installation (3.8)	14m 46s
full_conan_installation (3.9)	13m 49s
full_conan_installation (3.10)	13m 27s
full_conan_installation (3.11)	13m 48s
full_conan_installation (3.12, manylinux_2_31_x86_64, conanio/gcc10:latest)	13m 26s
	2h 16m 0s

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