Merge pull request #12 from USC-ACTLab/dev

ALP-106: Add component breakdown to design doc

The breakdown includes:
- Math util
- RobotManager

Add section on EKF

ALP-106: Finish design doc v1

ALP-106: Restructured folder to include design doc

…ts-to-repo

ALP-106: Add design docs to repo

…-tests-without-approval

ALP-107: Update run-unit-tests.yml

ALP-89: Add unit tests and refactor functions

ALP-89: Finish math utils and unit tests

to return `NaN` with negative variance

Co-authored-by: Benned Hedegaard <benned1@gmail.com>

…ty-utilities

Wwu/alp 89 implement probability utilities

* ALP-62: Add RobotManager and EKF

* ALP-62: Add RobotManager and EKF

* ALP-62: Refactor RobotManager Function signatures

* ALP-62: Finish EKF classes and supporting code

- specify RobotManager and draft functions
- mock RobotManager needed for testing, see ALP-109

ALP-62: Add robot manager and start EKF dev

ALP-62: Add Unit Tests to EKF class

ALP-62: Add enum for results and pointer deletion

ALP-62: Resolve robot-manager reference

and implement set-up/tear-down of non-empty KF unit test

ALP-62L implement measJacobian() function

ALP-62: Finalized Kalman Filter

* ALP-62: Correct unit test for shared pointer

* ALP-62: Add RobotManager and EKF

* ALP-109: Add MockManger 2D for numerical sim

ALP-109: Add condtional compiles and docstrings

ALP-109: Add unit tests for mocked manager

ALP-109: Correct measurement prediction function

ALP-109: Add num sim script

ALP-109: Add mock manager unit tests

ALP-109: Correct unit tests, start jacobian

ALP-109: Finish testing mock measurement model

ALP-109: Retest after rebase

Generated Jacobian test points

ALP-109: Add example jacobian test