started working on the tex-part

started working on eval-graphics
ned helper methods
tested some new aspects
some fixes and changes
added some graphics
new test-floorplan
many cleanups

code/lukas/TurnObservation.h

@@ -11,7 +11,7 @@ struct TurnObservation {
     float delta_motion; //measured change of motion direction (given by PCA)
 
     TurnObservation() {;}
-    TurnObservation(const float delta_heading, const float motion_angle) : delta_heading(delta_heading), delta_motion(delta_motion) {;}
+	TurnObservation(const float delta_heading, const float motion_angle) : delta_heading(delta_heading), delta_motion(motion_angle) {;}
 
 };