fixed some issues

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

geo/Point2.h

@@ -78,6 +78,9 @@ inline float dot(const Point2 p1, const Point2 p2) {
 	return (p1.x*p2.x) + (p1.y*p2.y);
 }
 
+inline float determinant(const Point2 p1, const Point2 p2) {
+	return (p1.x*p2.y) - (p1.y*p2.x);
+}
 
 inline void swap(Point2& p1, Point2& p2) {
 	std::swap(p1.x, p2.x);