Added a physics based aproach to optimizing the pose graph

.idea/libraries/core.xml

@@ -0,0 +1,9 @@
+<component name="libraryTable">
+  <library name="core">
+    <CLASSES>
+      <root url="jar://$PROJECT_DIR$/../../processing-4.3/core/library/core.jar!/" />
+    </CLASSES>
+    <JAVADOC />
+    <SOURCES />
+  </library>
+</component>