ethz-asl/ethzasl_msf — pull request #40 by markusachtelik (2013-12-15 22:12:01+00:00)
Title: templated pose measurement on its auxiliary states

camera-imu calibration, world-vision frame and scale are now template parameters, such that we can use the pose measurement implementation for multiple measurements, incorporating the correct aux states.
Templates have default parameters, therefore the current implementation shouldn't be affected. Compiles, but still needs to be tested.