commented out debug printing
Logs were saved with the wrong x,y position for 1 objects, so need to set it manually.
Chnaged to allow easier switching between sequential and parallel updates.
Added constructor with initialisation from mean and covariance.
Added function to initialise the model, modified to use sequential update method.
Added new Kalman Filter structure. This strucutre allows multiple kalman filter implementations to work with various models.
Removed the initialisation methos, as it was moved to the base KF class.
Modified the ball model to use the new Kalman Filter structure.
Added model weighting and outlier detection.
Changed ordering of variables to fit initialisation order.
Fixed streaming operator to fit spec.
Added classes for the square root versions of the kalman filters.
lambda variable to prevent repeated calculations of it.
Updated commenting
Changed formatting of output.
Added functions for Cholesky Update and QR Housholder factorisation.
Changed names of the states enum.
Added different update types.
Added filter specifications to the localisation settings data structure.
Removed unused variables.
Removed unused variable.
Changed to use the new Kalman filter models.