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This is a method for computing S for an independent measurement. It can
provide a speed improvement over computing a full, correlated S, but may
reduce quality if correlated measurements are treated as independent.
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The motion model is broken into two parts, the creation of the L matrix
and the state update. This means that ydot can be computed from the
state object for many features at once, saving computation time.
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Used a slightly simplified expression to compute pib0. Replaced the
Householder Transform with quaternion based reflection (untested).
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