Bearing limitation.

Added code to the behavioural model to limit the change in bearing at
each intermediate point.
Bugfix in estelle sampler

Fixes potentially major bug -> in practice does not seem to alter
solution -> only seems to make small changes to z
Merge remote-tracking branch 'origin/master' into BearingLimit
Documenation cleanup
Version bump
Merge remote-tracking branch 'origin/master' into Lattice