mapping works, moving on to localization. created kernel for computing scan matching scores.
slam running in 5-6ms with optimization level 2. motion model must be fixed tho.
slam works, but beam endpoint model causes map to diverge.
taken out a buncha stuff not used. final time is around 6-7ms
made some reordering
forgotten some calls to free, added them
tried moving device_vectors around, but the compiler complains. left changes in commented
Merge pull request #1 from areverberi/slam

Pulling from slam, created branch from master instead of slam