fixed some issues

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

math/KahanSum.h

@@ -0,0 +1,84 @@
+#ifndef KAHANSUM_H
+#define KAHANSUM_H
+
+#include <vector>
+
+template <typename T> class KahanSum {
+
+private:
+
+	const T zero;
+
+	/** current sum */
+	T sum;
+
+	/** current compensation */
+	T comp;
+
+
+public:
+
+	/** ctor with zero element */
+	KahanSum(const T zero) : zero(zero), sum(zero), comp(zero) {
+
+	}
+
+	KahanSum& operator += (const T val) {
+		add(val);
+		return *this;
+	}
+
+	KahanSum& operator -= (const T val) {
+		sub(val);
+		return *this;
+	}
+
+	T get() const {
+		return sum;
+	}
+
+private:
+
+#define NO_OPT	__attribute__((optimize("-O0")))
+
+	/** adjust the sum */
+	void add(const T val) NO_OPT {
+		const T y = val - comp;
+		const T t = sum + y;
+		comp = (t-sum) - y;				// very important line
+		sum = t;
+	}
+
+	/** adjust the sum */
+	void sub(const T val) NO_OPT {
+		const T y = val - comp;
+		const T t = sum - y;
+		comp = (t-sum) + y;				// very important line
+		sum = t;
+	}
+
+public:
+
+	static T get(const std::vector<T>& values, const T zero = T()) {
+		return get(values.data(), values.size(), zero);
+	}
+
+	static T get(const T* values, const size_t cnt, const T zero = T()) {
+
+		T sum = zero;
+		volatile T comp = zero;
+		for (size_t i = 0; i < cnt; ++i) {
+			const T inp = values[i];
+			const volatile T y = inp - comp;
+			const volatile T t = sum + y;
+			comp = (t-sum) - y;
+			sum = t;
+		}
+
+		return sum;
+
+	}
+
+};
+
+#endif // KAHANSUM_H