Update pibHat
Update to Junho 610 version ,lines 144-148 of matlab
Add View, Vfeat classes. Change meas to View
Convert hmu to View
View -,-= operators
Vfeat.set_views() method
Convert pib0Hat and ppbHat to Vec3d
Convert more to vec3d
Use typecast Mat->Vec3d
Update iterators, remove unused vars