New branch: Soft constraint, I try to find a algorithm to find a solution by combining constraints
Linear incrementation of the error
Verified results
First working algorithm 'forward': try solution with different values in a certain range given by a step
Added variable: control number of step, startstep: SIVIA controller, cf. graph fro results
minor changes
Implementation of 'back/for' algo to try to understand the correlation between epsion of SIVIA and time execution
As requested by Luc: Implementation of time trackbar to follow the robot given a eight curve path
Choose between an eight and a circle to plot trajectory
Error on distance beacon now in percent. We can notice the difference between the real position and the found by SIVIA
Simulation: only an 8 traj computed by euler. Accurate heading and position. We can see the trajectory.
Enhanced zoom function, now follow the trajectory, fixed problem on timetrackbar
Beholdgit add * Major breakthrough: we can compare the soft constraint method and the q-relaxationgit add *
Minor changes
Implementation of GONME: enhanced q-relaxed algo
Merge branch 'soft'

Conflicts:
	mainwindow.cpp
	sivia.cpp
	sivia_simple.pro.user
Merge