Write CubeBrgOriSensorModel to use bearing and orientation cues.
This should give us lines of constant bearing with correct heading.

Write CubeCombinedSensorModel to use bearing, distance, and orientation.

Write NotSLAM.fsm that adds landmarks to the map on first appearance
and runs the particle filter.  How does it respond when landmarks are
perturbed slightly?  It can't adapt!

Testing Cozmo's path planner:
  Tell Cozmo to go to a point.  Watch in world_viewer.
  Introduce obstacles into Cozmo's world map.
  Visualize the obstacles in the world viewer.
  Tell Cozmo to go to a point and Watch him navigate around the obstacles.
  What do we know about his path planner?  Is it potential field?

Homework:
  Run my particle slam code.