Keep odometry data only as needed for pose graph optimization.

Context: When a robot is not moving much, there are few trajectory nodes and odometry data can consume a lot of memory. Right now OptimizationProblem2D and OptimizationProblem3D store a lot of unneeded odometry data.

Idea: The optimization only needs odometry data directly before and after each trajectory node. This means, that all odometry data before the last node of a trajectory can be replaced by the interpolated odometry as used in the optimization problem.