Changed how different observation methodes are handled in the Simulation class.
There is now one Observe() function and a class attribut to choose the mode for
observation.
made a modification to the way how the robot is moved. now its dependend on time.
This should make him move the same speed independent from how fast the simulationloop
is completed.

There is still a Bug in the GPS mode, where all particles vanish and it leads to a
segmentation fault.

msTime has now a variable where the length of the timestep is saved.
So it is accessable without makeing the next timestep.
picrating: replaced & with &&

main: just some modifications for testing

localisation: implemented getOrientation and getPosition
localisation: started to implement the observeImg methode.

robot: changed the speed values.

main: just some testing changes.