commented some couts
Merge branch 'master' of ssh://robotics.gwu.edu/home/rpg/git/ba
resolved conflicts
Merge branch 'master' of ssh://robotics.gwu.edu/home/rpg/git/ba
Merge branch 'master' of ssh://robotics.gwu.edu/home/rpg/git/ba
Merge branch 'master' of ssh://robotics.gwu.edu/home/rpg/git/ba
Merge branch 'master' of ssh://robotics.gwu.edu/home/rpg/git/ba
Merge branch 'master' of ssh://robotics.gwu.edu/home/rpg/git/ba
Merge branch 'master' of ssh://robotics.gwu.edu/home/rpg/git/ba
fixed conflicts
Merge branch 'master' of ssh://robotics.gwu.edu/home/rpg/git/ba
Merge branch 'master' of ssh://robotics.gwu.edu/home/rpg/git/ba
resolved conflicts
Merge branch 'master' of ssh://robotics.gwu.edu/home/rpg/git/ba
Removed reallocation on sparse insert, added matrix transpose operation, removed redundant transposes, landmark terms unrolled
Merge branch 'master' of ssh://robotics.gwu.edu/home/rpg/git/ba
added check for residuals in Solve function
Projection calculations now not done on PoseSize parameters, but always on 6. Modified sparse add/subtract functions to facilitate adding/subtracting sub blocks to permit this functionality
Googlified a name
IMU working again