Added LocalizationModule, still needs some work.
PRECOMPILE: This is a sketch of the new structure of localization and the particle filter. I haven't finished it because the OdometryModel and VisionModel classes have to be cleaned up a lot.
Merge remote-tracking branch 'nbites/overhaul' into overhaul
quick little code style changes
fixed some PF header stuff
No compile errors in LocModule
Merged in NONCOMPILE restructured code
All re-written loc files compile
Localization Module instatiates everything correctly (no errors)
Added functionality, included all files in CMake (whoops...)
Motion part of FakeLocInputModule working
Continued fake vision on mac, needs to be compiled
Compiles and adds visual information
FakeVision/FakeMotion module compiles and has all features
Runs and logging fake odometry
FakeLocModule extensively tested (R) and working correctly
Improves motion/vision system code
Lots of little bug fixes, document assumptions, clean code
Added noise to odometry update (again), was removed and not fixed during testing
Improvements throughout system (math)