Execution time

Vereshchagin youBot contains code to calculate the execution time.
begin = clock()
end = clock()
(end-begin)/CLOCKS_PER_SECOND
http://stackoverflow.com/questions/5248915/execution-time-of-c-program

There is also a first incentive to calculate cost functions.
Merge branch 'master' of https://github.com/mariekecopejans/kdl_examles