northern-bites/nbites — pull request #679 by joshimhoff (2014-07-09 03:43:38+00:00)
Title: Loc motion update

Stops using FRICTION_FACTORS in the loc motion update step. New walk's odometry is better!

The commit history is sloppy. It's too close to competition for me to care...

Also adds functionality to pWalker to make updating the variance params in loc easier.