fixed some issues

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

math/dsp/iir/BiQuad.h

@@ -29,7 +29,7 @@ namespace IIR {
 		/** filter the given amplitude of the given channel (history) */
 		Scalar filter( const Scalar aIn ) {
 
-			Scalar aOut = 0;
+			Scalar aOut = Scalar();	// zero
 			aOut += aIn   *(b0a0);
 			aOut += in[0] *(b1a0);
 			aOut += in[1] *(b2a0);