The final merge of Entwurf #3293
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Change downsampling to work for non-root trajectories
Add a mechanism to exclude forks at serialization time
Detect collapsibility changes and fork new segments of the history
Reanimation of vessel trajectories
Update the oldest_reanimated_checkpoint_ when the first know checkpoint is created
Do not do multiple checkpoints at the same time
Zermelo is हरीश चंद्र
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Fix #2400.