Jason/pf project

[JasonGibson274]

This branch contains the particle filter project code.

The things left to do on this project is to

1. Add additional noise to the odom measurement
2. Correctly compute the transform of map to odom with additional noise

Otherwise this should be ready for general code review and reshuffling for the exercise.

I can assist when it comes to structuring the exercise around tuning of the particle filter.

[barulicm]

Ok, @JasonGibson274, I've pushed up a bunch of changes including general cleanup, starter code changes, and project instructions.

Critical things I need your input on are in the instructions:

• Do we still want to do the tuning section? If so, I'll need your help with section 3.13.
• Do you have a good, one sentence explanation of what the normalizer is for the description of ComputeLogNormalizer in section 3.2?
• Double check my explanations of the theory related stuff in sections 3.8 and 3.9.

The changes here are dependent on the changes in PR 25 in stsl. That PR will need to be merged and deployed for this project as well.