changed the input of the dynamic update in localisation. Now it should
get absolut increment values, not just the difference since last
update.
- There are now 2 seperate wheel radiuses.
- Changed the distance between the wheels from 0.07 to 0.7
- removed the random-functions from the robot.cpp it is using
  the ones from locaUtil now
- changed how the increments are calculated. Now the wheel angles
  are calculated and stored. From thoes the increments of each
  wheel is derived. After that a noise is added depending on
  the sigma and on how much the angle change was.
  if there is no angle change the increments will stay the same.
- changed the dynamic calculation from "move + turn" to
  "turn/2 + move + turn/2".
- removed updatePosition() and updateOriantation() from RobotData
- added updatePose() as replacement in RobotData, and used new dynamic model
- changed localisation::Particle::dynamic() to also use the new dynamic model
- added a mode selector via main() args
- added a one particle mode for testing
- changed some #include paths
- fixed the observeOneParticle() function