fixed some issues

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

math/stats/SampleRateEstimator.h

@@ -0,0 +1,41 @@
+#ifndef SAMPLERATEESTIMATOR_H
+#define SAMPLERATEESTIMATOR_H
+
+#include "../../data/Timestamp.h"
+
+class SampleRateEstimator {
+
+private:
+
+	const double a = 0.99;
+	double curHz = 0;
+	Timestamp tsLast;
+
+public:
+
+	float update(const Timestamp ts) {
+
+		// first
+		if (tsLast.isZero()) {
+			tsLast = ts;
+			return 0;
+		}
+
+		const double diffSec = static_cast<double>((ts-tsLast).sec());
+		tsLast = ts;
+
+		if (diffSec != 0) {
+			curHz = a*curHz + (1-a) * (1.0/diffSec);
+		}
+
+		return static_cast<float>(curHz);
+
+	}
+
+	float getCurHz() const {
+		return static_cast<float>(curHz);
+	}
+
+};
+
+#endif // SAMPLERATEESTIMATOR_H