Passthru: rename w to multiply, as it's misleading to common semantics
Passthru: rename onbits to w to follow naming conventions
Passthru: fix bug for varying output size

all input bits must be multiplied, otherwise difference input patterns
would produce diff lengths.
Passthru: speedup encode()
Passthru: add TODO for decode etc..
Passthru: turn tests to reflect changes
Passthru: fix param order in tests
debug
PassThru: add forced param to accept any input, just return in as is

from encode.
Merge branch 'master' into pass-thru-enc
PassThru encoder: fix some dimensions/index problems
Merge branch 'pass-thru-enc' into ROS-encoder