Refactor GaussMarkov sensor noise handling

[Natsoulas]

• Tickets addressed: issue Inconsistent sensor noise handling #867
• Review: By commit
• Merge strategy: Merge (no squash)

Description

Followed user feedback about inconsistencies in how various sensors handle the GaussMarkov noise model. This PR addresses all the issues pointed out in issue #867 and updates relevant documentation. Necessary private class attributes are made accessible outside of the class via getter and setter methods introduced in this PR. Additionally, I edited sensor modules to initialize the GM noise models in their constructors rather than in their Reset() methods (this was only some sensors).

Verification

Each change/refactor was verified via passing unit tests and running scenarioGaussMarkovRandomWalk.py to ensure the refactor did not change any functionality of the code.

Documentation

Changed imuSensor name for walkBounds to errorBounds, and documented latex doc for the IMU Sensor called imuSensor/_Documentation/BasiliskCorruptions.tex

Future work

See if community desires any additional refactoring or clarification of Gauss Markov sensor noise modeling through additional documentation

[sdunlap-afit]

@Natsoulas Looking through the code, it seems ImuSensor::Reset() is still setting the two AMatrix variables to I. If you remove these from Reset(), you may also want to remove this comment in scenarioGaussMarkovRandomWalk.py to avoid confusion: # Set IMU2's A Matrix to zero AFTER initialization.

[Natsoulas]

Thanks @sdunlap-afit for looking over my changes. I'll incorporate that change this afternoon.

[Natsoulas]

@sdunlap-afit I just removed the lines setting A as the identity in Reset(), and edited the comment in the scenario. Let me know if you have any more suggestions. I appreciate your help!