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/plan_new.svg

@@ -42,17 +42,17 @@
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      inkscape:pageopacity="0"
      inkscape:pageshadow="2"
-     inkscape:window-width="3200"
-     inkscape:window-height="1671"
+     inkscape:window-width="1600"
+     inkscape:window-height="822"
      id="namedview3234"
      showgrid="true"
-     inkscape:zoom="1.6989779"
-     inkscape:cx="881.41659"
-     inkscape:cy="1487.0248"
+     inkscape:zoom="2.4027176"
+     inkscape:cx="2636.6172"
+     inkscape:cy="1428.0719"
      inkscape:window-x="0"
-     inkscape:window-y="55"
+     inkscape:window-y="0"
      inkscape:window-maximized="1"
-     inkscape:current-layer="layer26"
+     inkscape:current-layer="layer12"
      inkscape:object-nodes="true"
      units="px"
      showborder="true"
@@ -2511,7 +2511,7 @@
      inkscape:groupmode="layer"
      id="layer12"
      inkscape:label="floor_1"
-     style="display:none">
+     style="display:inline">
     <path
        style="fill:none;stroke:#000000;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
        d="m 49.606299,1853.1496 605.905511,0"
@@ -3188,12 +3188,22 @@
        d="m 442.91339,712.20469 63.77952,0"
        id="path5836"
        inkscape:connector-curvature="0" />
+    <path
+       style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       d="m 2653.937,389.76374 0,24.80315"
+       id="path4999"
+       inkscape:connector-curvature="0" />
+    <path
+       style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       d="m 2777.9528,414.56689 -124.0158,0"
+       id="path5001"
+       inkscape:connector-curvature="0" />
   </g>
   <g
      inkscape:groupmode="layer"
      id="layer9"
      inkscape:label="floor_2"
-     style="display:inline"
+     style="display:none"
      transform="translate(0,4.2364502e-5)">
     <path
        style="fill:none;stroke:#000000;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
@@ -3927,6 +3937,11 @@
        d="m 442.91339,712.20465 63.77952,0"
        id="path5834"
        inkscape:connector-curvature="0" />
+    <path
+       style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       d="m 2462.5984,389.7637 0,70.86615"
+       id="path4996"
+       inkscape:connector-curvature="0" />
   </g>
   <g
      inkscape:groupmode="layer"
@@ -4722,10 +4737,10 @@
      inkscape:groupmode="layer"
      id="layer17"
      inkscape:label="staircase_0_1"
-     style="display:none">
+     style="display:inline">
     <path
        style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
-       d="m 2664.5669,655.51178 102.7559,0 0,-155.90552"
+       d="m 2664.5669,655.51178 102.7559,0 0,-265.74804"
        id="path4988"
        inkscape:connector-curvature="0"
        sodipodi:nodetypes="ccc" />