Remove xiwHatHist and move xiw plotting to end of loop after estimation
Add States::compare() method for testing new feature storage
Write accessors for Feature class
Move accessors
Move d0Hist assignment after estimation
Add initialize() method to feature
Add initialize and active vector
Hackish way to remove i loop
Cleanup
Add flag bias to dynamics
move flagbias into function and add operator* to States
add operator+ to states
Remove commented out norm. Add flagbias to measmode func
initQ initG
Add View method and calculate in functions
Mat->States constructor
cleanup
Update H initialization
updateP(), move declarations to top of k loop
Remove States::compare()