fixed some issues

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

math/MovingAverageTS.h

@@ -4,6 +4,7 @@
 #include <vector>
 #include "../data/Timestamp.h"
 #include <algorithm>
+#include "KahanSum.h"
 
 template <typename T> class MovingAverageTS {
 
@@ -22,14 +23,19 @@ private:
 	/** the value history for the window-size */
 	std::vector<Entry> history;
 
+	const T zero;
+
 	/** current sum */
 	T sum;
 
+	/** more exact running summation of many values */
+	KahanSum<T> kSum;
+
 public:
 
 
 	/** ctor with the window-size to use */
-	MovingAverageTS(const Timestamp window, const T zeroElement) : window(window), sum(zeroElement) {
+	MovingAverageTS(const Timestamp window, const T zeroElement) : window(window), zero(zeroElement), sum(zeroElement), kSum(zeroElement) {
 
 	}
 
@@ -41,6 +47,7 @@ public:
 
 		// adjust sum
 		sum += data;
+		kSum += data;
 
 		// remove too-old history entries
 		const Timestamp oldest = ts - window;
@@ -48,6 +55,7 @@ public:
 
 			// adjust sum
 			sum -= history.front().value;
+			kSum -= history.front().value;
 
 			// remove from history
 			history.erase(history.begin());
@@ -56,11 +64,31 @@ public:
 
 	}
 
-	/** get the current average */
-	T get() const {
+	/** get the current average (with increasing error due to float sum!) */
+	T getOldAPX() const {
 		return sum / history.size();
 	}
 
+	/** get the current average */
+	T get() const {
+		return kSum.get() / history.size();
+	}
+
+//	T get() const {
+
+//		T sum = zero;
+//		volatile T comp = zero;
+//		for (const auto e : history) {
+//			T inp = e.value;
+//			T y = inp - comp;
+//			T t = sum + y;
+//			comp = (t-sum) - y;
+//			sum = t;
+//		}
+
+//		return sum / history.size();
+
+//	}
 
 };