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[draft] switch wpical backend to gtsam #16117

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Job	Run time
Validation	6s
Build - Athena	6m 52s
Build - Win64Debug	12m 11s
Build - Arm32	9m 56s
Build - Documentation	2m 5s
Build - Win64Release	9m 55s
Build - Arm64	12m 12s
Build - WinArm64Debug	11m 20s
Build - Linux	10m 17s
Build - WinArm64Release	10m 37s
Build - macOS	8m 42s
Build - Win32FFI	4m 9s
Build - Win64FFI	4m 14s
Combine	0s
dispatch	0s
	1h 42m 36s