Started work with disparity measurement model
Merged in a fix from disparity measurement model class
Brought back changes deleted by mistake
Merged in fixes from disparitymm branch
Added more general 'linear motion model' class which absorbs constant position motion model. Commented disparity space changes while they are completed.
Removed constant position motion model
Merge branch 'disparitymm'
Merged in changes, Disparity Space changes will remain commented for now

Conflicts:
	src/PHD.hpp
Many evil things with no commits
Added function to read parameters
Rid code with unspeakable evil
Added multi object likelihood which is computed on update
Added basic particle implementation