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Datatype restructure for optimisation objects #227

Description

@BradyPlanden

This issue is to restructure PyBOP's datatypes for model output (y & dy). At the moment, they are numpy arrays with varying mixture of wrapping. This issue is to align all of the outputs to dictionaries to have a standardised datatype with clear structure definition.

At the same time, updates will be required for the multi-signal cost function definitions.

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