Added estimator Codegen output

Output is consistent with the C++ files of the estimator libraries in the Kugle-Embedded repository

Estimators/QEKF/codegen/lib/QEKF/QEKF.h

@@ -0,0 +1,41 @@
+//
+// Academic License - for use in teaching, academic research, and meeting
+// course requirements at degree granting institutions only.  Not for
+// government, commercial, or other organizational use.
+// File: QEKF.h
+//
+// MATLAB Coder version            : 4.0
+// C/C++ source code generated on  : 26-Apr-2019 13:33:55
+//
+#ifndef QEKF_H
+#define QEKF_H
+
+// Include Files
+#include <stddef.h>
+#include <stdlib.h>
+#include "rtwtypes.h"
+#include "QEKF_types.h"
+
+// Function Declarations
+extern void QEKF(const float X[10], const float P_prev[100], const float
+                 Gyroscope[3], const float Accelerometer[3], float Heading,
+                 boolean_T UseHeadingForCorrection, float SamplePeriod,
+                 boolean_T SensorDriven, boolean_T BiasEstimationEnabled,
+                 boolean_T YawBiasEstimationEnabled, boolean_T
+                 NormalizeAccelerometer, const float cov_gyro[9], const float
+                 cov_acc[9], float GyroscopeTrustFactor, float sigma2_omega,
+                 float sigma2_heading, float sigma2_bias, boolean_T
+                 AccelerometerVibrationDetectionEnabled, float
+                 AccelerometerVibrationNormLPFtau, float
+                 AccelerometerVibrationCovarianceVaryFactor, float MaxVaryFactor,
+                 float g, float X_out[10], float P_out[100]);
+extern void acc_norm_filtered_not_empty_init();
+extern void acc_norm_old_not_empty_init();
+
+#endif
+
+//
+// File trailer for QEKF.h
+//
+// [EOF]
+//

Estimators/QEKF/codegen/lib/QEKF/QEKF_initialize.cpp

@@ -0,0 +1,33 @@
+//
+// Academic License - for use in teaching, academic research, and meeting
+// course requirements at degree granting institutions only.  Not for
+// government, commercial, or other organizational use.
+// File: QEKF_initialize.cpp
+//
+// MATLAB Coder version            : 4.0
+// C/C++ source code generated on  : 26-Apr-2019 13:33:55
+//
+
+// Include Files
+#include "rt_nonfinite.h"
+#include "QEKF.h"
+#include "QEKF_initialize.h"
+
+// Function Definitions
+
+//
+// Arguments    : void
+// Return Type  : void
+//
+void QEKF_initialize()
+{
+  rt_InitInfAndNaN(8U);
+  acc_norm_old_not_empty_init();
+  acc_norm_filtered_not_empty_init();
+}
+
+//
+// File trailer for QEKF_initialize.cpp
+//
+// [EOF]
+//

Estimators/QEKF/codegen/lib/QEKF/QEKF_initialize.h

@@ -0,0 +1,28 @@
+//
+// Academic License - for use in teaching, academic research, and meeting
+// course requirements at degree granting institutions only.  Not for
+// government, commercial, or other organizational use.
+// File: QEKF_initialize.h
+//
+// MATLAB Coder version            : 4.0
+// C/C++ source code generated on  : 26-Apr-2019 13:33:55
+//
+#ifndef QEKF_INITIALIZE_H
+#define QEKF_INITIALIZE_H
+
+// Include Files
+#include <stddef.h>
+#include <stdlib.h>
+#include "rtwtypes.h"
+#include "QEKF_types.h"
+
+// Function Declarations
+extern void QEKF_initialize();
+
+#endif
+
+//
+// File trailer for QEKF_initialize.h
+//
+// [EOF]
+//

Estimators/QEKF/codegen/lib/QEKF/QEKF_rtw.bat

@@ -0,0 +1,12 @@
+@echo off
+
+cd .
+
+if "%1"=="" ("C:\PROGRA~1\MATLAB\R2018a\bin\win64\gmake"  -f QEKF_rtw.mk all) else ("C:\PROGRA~1\MATLAB\R2018a\bin\win64\gmake"  -f QEKF_rtw.mk %1)
+@if errorlevel 1 goto error_exit
+
+exit /B 0
+
+:error_exit
+echo The make command returned an error of %errorlevel%
+An_error_occurred_during_the_call_to_make