fixed some issues

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

math/FixedFrequencyInterpolator.h

@@ -70,7 +70,7 @@ public:
 			while(nextOutput < cur.ts) {
 
 				// interpolation rate
-				const float percent = (nextOutput.ms() - last.ts.ms()) / (float) (diff.ms());
+				const float percent = (nextOutput.finest() - last.ts.finest()) / (float) (diff.finest());
 
 				// sanity checks
 				Assert::isNotNaN(percent, "detected NaN for interpolation");