fixed some issues

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

sensors/imu/CompassData.h

@@ -4,16 +4,16 @@
 
 #include <cmath>
 #include <sstream>
-
+#include "../../math/Floatingpoint.h"
 
 /** data received from a compass sensor */
 struct CompassData {
 
 	/** azimuth angle. NAN if not available */
-	float azimuth = NAN;
+	FPDefault azimuth = NAN;
 
 	/** describes the sensor's quality */
-	float quality01 = 0;
+	FPDefault quality01 = 0;
 
 
 	/** empty ctor */
@@ -49,7 +49,7 @@ struct CompassData {
 
 private:
 
-	static inline bool EQ_OR_NAN(const float a, const float b) {return (a==b) || ( (a!=a) && (b!=b) );}
+	static inline bool EQ_OR_NAN(const FPDefault a, const FPDefault b) {return (a==b) || ( (a!=a) && (b!=b) );}
 
 };