[modernize] Modernize AutoDiff and NumericDiff CostFunctions to C++17

Modernize the construction and initialization logic of AutoDiffCostFunction,
NumericDiffCostFunction, AutoDiffFirstOrderFunction,
NumericDiffFirstOrderFunction, DynamicAutoDiffCostFunction,
DynamicNumericDiffCostFunction, and CostFunctionToFunctor by utilizing
C++17 features:

- Simplify constructor delegation using if constexpr, removing the need for
  internal InitTag structures.
- Use std::is_constructible_v for cleaner SFINAE in variadic constructors.
- Add static_assert to catch improper usage of DYNAMIC residuals/parameters
  at compile-time.
- Add Ownership support to AutoDiffFirstOrderFunction,
  DynamicAutoDiffCostFunction, and DynamicNumericDiffCostFunction.
- Simplify CostFunctionToFunctor::operator() using variadic parameter packs.
- Use this->num_residuals() for consistent and clear access to base class
  state.
- Minor code quality improvements and removal of redundant template
  parameters.

Change-Id: Id760a26ba2ceca4fb2939ef7632f2f1d9cc430c9

include/ceres/numeric_diff_cost_function.h

@@ -263,7 +263,7 @@ class NumericDiffCostFunction final
             functor_.get(),
             residuals,
             options_,
-            SizedCostFunction<kNumResiduals, Ns...>::num_residuals(),
+            this->num_residuals(),
             parameters_reference_copy.data(),
             jacobians);
 
@@ -279,7 +279,7 @@ class NumericDiffCostFunction final
                                    const NumericDiffOptions& options)
       : functor_(std::move(functor)), ownership_(ownership), options_(options) {
     if constexpr (kNumResiduals == DYNAMIC) {
-      SizedCostFunction<kNumResiduals, Ns...>::set_num_residuals(num_residuals);
+      this->set_num_residuals(num_residuals);
     }
   }