Initial commit.
Attempted fix for odometry. Added layer in display. Updated notes regarding algorithms. Various small additions and modifications.
Added IMU related classes. Modified input binary file names.
Verified functionality of IMU classes and methods.
Improved scan matching performance.
Further improvements to scan matching to use IMU data. Minor changes to acceptable corner angles. Particle filter is back on.
Reverted to fixed initial corner covariance. Modified data association threshold.
Added dedicated surface for maps. Minor revisions for feature extraction.
Modified copy and assignment characteristics, especially regarding particles.