Rebase from 'rpm/indigo/homer_mapnav'

homer_mapping/src/OccupancyMap/CMakeLists.txt

homer_mapping/src/OccupancyMap/Math/CMakeLists.txt

homer_mapping/src/OccupancyMap/Math/Circle2D.cpp

homer_mapping/src/OccupancyMap/Math/Homography.cpp

homer_mapping/src/OccupancyMap/Math/Line2D.cpp

homer_mapping/src/OccupancyMap/Math/Math.cpp

homer_mapping/src/OccupancyMap/Math/Matrix.cpp

homer_mapping/src/OccupancyMap/Math/Obb2D.cpp

homer_mapping/src/OccupancyMap/Math/Point2D.cpp

homer_mapping/src/OccupancyMap/Math/Polygon2D.cpp

homer_mapping/src/OccupancyMap/Math/Pose.cpp

homer_mapping/src/OccupancyMap/Math/Transformation2D.cpp

homer_mapping/src/OccupancyMap/Math/Vector3D.cpp

homer_mapping/src/OccupancyMap/Math/mat3.cpp

homer_mapping/src/OccupancyMap/Math/misc.cpp

homer_mapping/src/OccupancyMap/OccupancyMap.cpp

homer_mapping/src/ParticleFilter/CMakeLists.txt

homer_mapping/src/ParticleFilter/HyperSlamFilter.cpp

homer_mapping/src/ParticleFilter/Particle.cpp

homer_mapping/src/ParticleFilter/SlamFilter.cpp