First outline of generic graph-slam engine
graph-slam engine: Skeleton of public API
fixed KDTreeCapable<T> for T=double
Progress with graph-slam engine
Progress
GraphSlam engine: Progress
Param structs refactoring
Fixed CICP::TConfigParams parsing from cfg file

CICP params load: fixed parsing textual versions of ICP_algorithm from
config files
Support for TEnumTypeFiller<TICPAlgorithm>
IX: CSensoryFrame cached map is now invalidated
Attempt to first full graph optimizations
Fixed graphslam edges order
More cfg params
RawlogViewer app: Fixed conversion ops
Verbose as params
More robust graph-slam
NI DAQ: Write analog values
backup

Possibly this GSE has to be rewritten from scratch...
closed-form odometry formula
RawLogViewer: consider odom. when converting to SF format