Fixed prediction; found out why values weren't correct

The sub-branch predictions were multiplied with the wrong success rate, always resulting in wrong probabilities. Also, the compiler seems to be invariant betwen interators of type map<string, int> and map<string, float>. So making mistakes here isn't noticed, and can result in loss in information. This is why the success rate never changed from 1.0.
Introduced support for manual parameter annotations

Nodes can now be manually annotated with custom parameters. These can be used for e.g. the current distance between the robot and an object in question, the goal location to navigate to, ...