new intersection detection
fixes
merge
set raycast hit point
fix heading bug
fix theta correction when wall on left side
remove debug outputs
Merge remote-tracking branch 'upstream/master'
Merge pull request #40 from mlosch/master

Fix odometry correction
update intersection strategy
implement fitblob service (untested)
Merge pull request #41 from mlosch/master

implement fitblob service (untested)
Merge remote-tracking branch 'tobias/master'
Merge remote-tracking branch 'upstream/master'
add backwards obstacle check
increase size of node label
Placing nodes kind of works
distinguish between on node and merge threshold. fix redraw bug.
Merge pull request #42 from tobiasandersson/master

update brain
add option to find shortest path to start node