fixed some issues

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

Exception.h

@@ -5,7 +5,8 @@
 #include <string>
 
 #ifdef ANDROID
-#include <QMessageBox>
+//include <QMessageBox>
+#include <QtDebug>
 #endif
 
 class Exception : public std::exception {
@@ -22,7 +23,10 @@ public:
 
 		// TODO better solution?
         #ifdef ANDROID
-		QMessageBox::question(nullptr, "Exception", str.c_str(), QMessageBox::Ok);
+		    qDebug() << "-------- ERROR --------";
+			qDebug() << str.c_str();
+			qDebug() << "------------------------";
+		//QMessageBox::question(nullptr, "Exception", str.c_str(), QMessageBox::Ok);
         #endif
 
 	}