fixed some issues

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

sensors/imu/PoseProvider.h

@@ -0,0 +1,43 @@
+#ifndef POSEPROVIDER_H
+#define POSEPROVIDER_H
+
+#include "../../math/Matrix3.h"
+
+class PoseProvider {
+
+public:
+
+	virtual const Matrix3& getMatrix() const = 0;
+
+	virtual float getSigma() const = 0;
+
+	virtual bool isKnown() const = 0;
+
+};
+
+
+class PoseProviderDummy : public PoseProvider {
+
+	Matrix3 mat = Matrix3::identity();
+
+public:
+
+	virtual const Matrix3& getMatrix() const override {
+		return mat;
+	}
+
+	Matrix3 getMatrixGyro() const {
+		return mat;
+	}
+
+	Matrix3 getMatrixAcc() const {
+		return mat;
+	}
+
+	virtual bool isKnown() const override {
+		return true;
+	}
+
+};
+
+#endif // POSEPROVIDER_H