Missing Hokuyo folder from previos commit
fix jacobi problems
C# solution for building shared object/dll
working wrapper, cleanups of C code to use parameters instead of global constants still needed
update gitignore
remove swarm_test
another test
reimplement ref counting as step towards reverting to fast filter
remove constants for arena and buffer size
various cleanups
move to log probabilities to avoid underflow
fully test path
Merge branch 'master' into team