Added infrastructure
Added framework for SLAME
Finished sketch method for slame.
Created framework for SLAME UKFs
Added body height to sensor filter
Merge branch 'develop' into feature/SLAME

Added new Ubuntu 14.01 box to vagrant
Wrote measurement equation for SLAME features.
Renamed files
Stub code structure implemented. (Not compiling)
Compilation issues fixed
Added untracked files
Begin implementation of testing of SLAME. Problem: transforming to camera ANGULAR happens in vision kinematics.
Added mock feature detector for SLAME testing
Merge branch 'develop' into feature/SLAME

Obtaining localisation changes for testing SLAME
Added missing files
Improved configuration of SLAME
Added mock feature matching
SLAME compiles but doesn't link
Added other files
Fixed merge conflicts