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e22d8cc343
This effectively replaces the Unscented Kalman Filter used for Pose Estimation with the Odometry model, and uses a recalculable Kalman gain matrix to update pose estimations whenever a vision measurement is added. Notably, this change removes the need for the confusing generics used in Java, and the C++ implementation got quite a bit less complex as well. Co-authored-by: Tyler Veness <calcmogul@gmail.com>