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A few small readme improvements #6

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A few small readme improvements #6

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8 changes: 4 additions & 4 deletions README.md
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Expand Up @@ -5,7 +5,7 @@ This repository contains a C++ library that implements an invariant extended Kal

This filter can be used to estimate a robot's 3D pose and velocity using an IMU motion model for propagation. The following measurements are currently supported:
* Prior landmark position measurements (localization)
* Estiamted landmark position measurements (SLAM)
* Estimated landmark position measurements (SLAM)
* Kinematic and contact measurements

The core theory was developed by Barrau and Bonnabel and is presented in:
Expand All @@ -23,15 +23,15 @@ A ROS wrapper for the filter is available at [https://github.com/RossHartley/inv
* [Eigen3 C++ Library](http://eigen.tuxfamily.org/index.php?title=Main_Page)

### Installation Using CMake
```
```shell
mkdir build
cd build
cmake ..
make
```
invariant-ekf can be easily included in your cmake project by adding the following to your CMakeLists.txt:
```
find_package(inekf)
```cmake
find_package(inekf REQUIRED)
include_directories(${inekf_INCLUDE_DIRS})
```

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