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/toni/BarometerEvaluation.h

@@ -13,7 +13,6 @@ public:
 
 	double getProbability(const MyState& state, const BarometerObservation* obs) const {
 
-		//return 1;
 
 //        //rho_z
 		double barometerSigma = 0.12+0.04;//0.09;