Remove xb0wHatHist
Remove noise
Update rb2b0 and rw2b0
Remove pibHat from motionModel and use features.X instead
Rename motion mode to jacobianMotionModel. Remove dynamics() from that function
Fix last commit. Update function call to new name
Remove unneeded parameters from jacobianMotionModel
Change parameters for dynamics
Remove unneeded pibHat assignment loop
Remove pibHat[] completely
Move xiwHat to Feature class
move r inline
Add initial values to Feature class
Move pib0 and xbb0Hat to Feature class
move rb2b0 to method in Feature class
Formatting