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Things to do for packagerelease
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* Clean up Oct-Class: make two classes that can be instantiated with a param for target-file.
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* Clean up Oct-Class: make two classes (thread, nothread) that can be instantiated with a param for target-file.
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* Refactor algorithms/sensor nodes to factories with registration pattern
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* Clean up covariance references from exploration algorithm
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* Fix variance/covariance matrix clusterfuck. Split into two variables -- this lets getVariance() return a const-ref as intended
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