changed visualisation

added new eval code for new walkers
improved barometer (moving avg and median)
floorplan-staircase-fixes
disabled step-turn (now part of transition)
added abs-orientation-reader (for testing)
added beacons

code/main.cpp

@@ -73,8 +73,6 @@ void testModelWalk() {
 		vis.show();
 	}
 
-
-
 	sleep(1000);
 
 }
@@ -85,12 +83,12 @@ int main(void) {
 
 //	testModelWalk();
 
-//	Eval1 eval;
-//	eval.setEval1();
-//	eval.run();
+	Eval1 eval;
+	eval.setEval1();
+	eval.run();
 
-	PaperVisImportance::createImportance();
-	PaperVisImportance::createPath();
+//	PaperVisImportance::createImportance();
+//	PaperVisImportance::createPath();
 
 	return 0;