Added matlab support.

Modified some c and cpp code to help.

matlab/make.m

@@ -0,0 +1,19 @@
+% Script for building BreezySLAM C extensions
+
+%    Copyright (C) 2014 Simon D. Levy
+%
+%    This code is free software: you can redistribute it and/or modify
+%    it under the terms of the GNU Lesser General Public License as
+%    published by the Free Software Foundation, either version 3 of the
+%    License, or (at your option) any later version.
+%
+%    This code is distributed in the hope that it will be useful,
+%    but WITHOUT ANY WARRANTY without even the implied warranty of
+%    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+%    GNU General Public License for more details.
+%
+%    You should have received a copy of the GNU Lesser General Public License
+%    along with this code.  If not, see <http:#www.gnu.org/licenses/>.
+
+
+mex mex_coreslam.c ../c/coreslam.c ../c/coreslam_sisd.c ../c/random.c ../c/ziggurat.c