averaging first transforms
small test for repo
motion model - needs testing
new struct for marker
motion model working in the EKF
first attempt to create G
changed to x y yaw Kalman
first try of full EKF
yaw fixed, problems with dh
small refactoring
EKF seems to work. h_prime needed
h_prime 1st try, not working yet
no warnings
ekf working, cleanup needed
small cleanup
h prime jacobian implemented. small visualization
motionmodel working
sensor model start
prediction ready
motion model fully implemented