star/brief support (no threshold parameters used at the moment)
L2 -> Hamming, needs update on nearest2
hamming distance used on all places, added possibility of response threshold
reduce output, measure time
fix odometry
Merge branch 'master' into brief
Merge branch 'master' into brief

Conflicts:
	robots/robot_exabot.cpp
Merge branch 'master' into brief
Merge branch 'master' into brief

Conflicts:
	robots/robot_exabot.cpp
Merge branch 'master' into brief (retain own changes)