fixed some issues

added new pose/turn detections
new helper classes
define-flags for libEigen

Assertions.h

@@ -70,6 +70,13 @@ namespace Assert {
 		}
 	}
 
+	template <typename T, typename U, typename V, typename STR> static inline void isNear(const T v1, const U v2, const V delta, const STR err) {
+		if (std::abs(v1-v2) > delta) {
+			std::stringstream ss; ss << "\nexpected " << v1 << " +/- " << delta << " but is " << v2 << "\n";
+			doThrow(err+ss.str());
+		}
+	}
+
 	template <typename T, typename STR> static inline void isBetween(const T v, const T min, const T max, const STR err) {
 		if (v < min || v > max) {
 			std::stringstream ss; ss << "\n[" << min << ":" << max << "] but is " << v << "\n";