Bundle shape info in SSMs#863
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Before: each SSM factorisation had its own version of "ravel", "shape", etc..
Now: We construct one central "ShapeInfo" object that collects ravelling, treedefs, etc., and pass them into each factorisation. This removed some duplication and is overall easier to read. This PR also improves the memory efficiency slightly because we only ever store shapes and dtypes of template arrays instead of the arrays.