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Enric Galceran authored 2015-09-08 09:54 . Forcing Jenkins rebuild.
Multiple fuzzy tracking states
extern templates c++11
Eigen::Map wrap Q-blocks (if possible)
Multiplication of F blockwise
Obs-constrainted EKF prediction
symm P: EV decompose P, set EVs<eps to zero and rebuild (profile this to know the cost!)
make sensor_manager provide interface to add measurement to core, so that
measurements dont need to include the core, but just the base manager class.
use more polymorphism to reduce compilation time and break up dependencies
plot_scripts autogen with correct indices from msf_core
TRUE MODULARITY:
a) template sensors to calibration states
b) Every sensor has a set of states (calib bias etc) these get added to a large state vector automatically.

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