Reimplemenation of Chapter 8, listing 1, using KF class
Separated out simulation from filtering
Converted to unix line endings, and clean up

1. Converted line endings to Unix from Windows
2. Moved simulation of fall to its own file so it can be used
   in multiple places.
3. Cleaned up and reordered code in my implementation of listing 1.
4. added the ekf from chapter 9.