unicycle motion model: add option to rotate the process noise covariance to the current state orientation #2
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…nce to the current state orientation using its yaw angle
…ariance to state orientation
…y to x and y position as the other state variables are already along the current state orientation
…r better coding style
…entation: remove of option to enable/disable it by a ROS parameter and instead always rotate it
…ecessary rewrite in code to make creation of the unit test easier and separated
…te static function Unicycle2D::generateMotionModel and make changes to unit test to test that now again non-static protected member function which needs setting private member variables before
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See locusrobotics#325