[Rock-dev] Mars going to eigen3 and new Sensor interfaces

[Matthias Goldhoorn]

As someone of you already might know,
i will push the eigen3 AND sensor_cleanup changes to master today.


### Eigen 3 Changes ####
That means you have to add to every occurrence of .x .y .z .w from 
vectors or quaternions with brackets (e.g. x() ).
Additionally helper functions as QVRotate(Quaternion,Vector) could be 
directly replaced with quaternion * vector, since this is defined on the 
eigen quaternion.


### new Sensor interfaces ###
I discussed with Malte also my new sensor interface, i will push these 
changes also to master to prevent the code to diverge too much.
The problem is then, that now all Sensors are re-implemented for the new 
structure. Malte will do this during this week.
I placed everywhere compiler warnings where i disabled some code.
Cameras and Intersection sensors already working.
If you want to provide help in this area, take a look to the Camera or 
RaySensor.
you might need also to change your scene files, the parsing is now done 
by the sensors itself. Take a look into the classes for new xml options.

The changes you need to do until now for cameras or ray sensors are:
<sensor name="sonar_rear_sensor" type="RaySensor">
<index>2</index> ##forigin node where the sensor is attached
<rate>20</rate>
         ##additonal setting in progess
</sensor>
<sensor name="front_cam" type="CameraSensor">
<id>1</id>
<position_offset x="2" y="0" z="0"/>
<orientation_offset yaw="-90" pitch="90" roll="0"/> ##in degree, you 
could give an quaternion also if you provide x y z and w
<depth_image>1</depth_image>
</sensor>


If you don't want to came in trouble, please change now to the new next 
branch on the supervision and do the pending changes later on.

Greetings,
Matthias

-- 
  Dipl.-Inf. Matthias Goldhoorn
  Unterwasserrobotik

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