started creating localization.cpp
Condensed multiple nodes down to one. Progress on the initiation process.
Made a lot of progress on the pole initiation. Expanded the pole class.
Localization working while standing still. Minor issues with pole assignment check.
Localization works to a certain degree. Can't lose sight of at least two poles and condition for point choice is bad.
Localization mostly works while inside the square. Rarely fails inside square, has lots of problems at the edge of it.
Implemented Newton method pose calculation. More stable but less accurate.
Combined newton's method & circle method. Fairly reliable & accurate, some little quirks from time to time.
Cleaned up a little. Added comments.
Added tilted poles
-added node that calculates error and writes it to a file
-implemented a possible tilt of the robot into the fake_scan
-made locate node a little more robust for real laser data
-added intensity test node to extract highest intensity
improved localization for no jumps
added function for pole recognition
-Implemented fixed path in fake_scan
-Improved Newton method to be less sensitive to noise
-Added more options to intensity test
-minor tweaks in locate & fake_scan
-improved interaction between circle intersection and newton method
Commit for merging localization to master.