Expand test framework and test cases (#685)

* Fix comment

* Ekf wrapper for testing

Add utility function for accessing information in the ekf object

* Add step function for Gps sensor

* Add RangeFinder and Flow to simulated sensors

* Add first fusion logic tests

* Add units to function name

* Use EXPECT_TRUE

* Adding missing qualifiers

* Improve EXPECT_ calls

* Improve naming

test/sensor_simulator/range_finder.cpp

@@ -0,0 +1,28 @@
+#include "range_finder.h"
+
+namespace sensor_simulator
+{
+namespace sensor
+{
+
+RangeFinder::RangeFinder(std::shared_ptr<Ekf> ekf):Sensor(ekf)
+{
+}
+
+RangeFinder::~RangeFinder()
+{
+}
+
+void RangeFinder::send(uint32_t time)
+{
+	_ekf->setRangeData(time, _range_data, _range_quality);
+}
+
+void RangeFinder::setData(float range_data_meters, int8_t range_quality)
+{
+	_range_data = range_data_meters;
+	_range_quality = range_quality;
+}
+
+} // namespace sensor
+} // namespace sensor_simulator