Revert "Got rid of EDF since it is weird"

This reverts commit 03fe7eb58bd4de0c7c59ff02eb6d3f296b9c151e.
Updated

Added the correction for Center of Mass acceleration
Updated get_orient function

1. getoffset changed to true
2. angular acceleration calculated
3. CrossMat of angular accel and vel
4. distance from CoM to accelerometer placement
5. Correction to calculate CoM linear acceleration