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Processor imu2d

Merged Processor imu2d
processor_imu2d into devel
Merged Idril-Tadzio Geer Cousté requested to merge processor_imu2d into devel

The 2D IMU case has been implemented and works. Work now begins on implementing the slanted plane case, but this branch can be merged already

Edited by Idril-Tadzio Geer Cousté

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