many changes

added new helper class for 3x3 matrices and vec3
added magnetometer data
added compass detection
refactored pose-estimation (single class)
refactored debug plots (move to own class)
minor changes

sensors/offline/Sensors.h

@@ -8,6 +8,7 @@ namespace Offline {
 		GRAVITY = 1,
 		LIN_ACC = 2,
 		GYRO = 3,
+		MAGNETOMETER = 4,
 		BARO = 5,
 		COMPASS = 6,		// also called "orientatioN"
 		WIFI = 8,