nearly there... some rethinking needed ... make type of scalar a template argument of AutoDiffScalar?
tmp
odom_estimator: replaced pow functions in magnetic model
Merge branch '2ndderiv' into HEAD

Conflicts:
	odom_estimator/include/odom_estimator/magnetic.h
work. XXX requires following fix to eigen for some unknown reason:

 pjsa
Registered Member

Re: unsupported AutoDiff 2nd derivative of sin() etc
Wed Jul 31, 2013 4:52 pm

in AutoDiffScalar.h on line 634 replace
typedef AutoDiffScalar<DerType>& Nested;
with
typedef AutoDiffScalar<DerType> Nested;
odom_estimator: added noise to accel and gyro biases to prevent problems after running for a long time