Added function for getting srp likelihood for each of a given set of directions. Modified function in distributionlocalizer so they were more general to allow them to be used for that purpose
Added methods for performing particle filtering tracking using the SRP-PHAT likelihood as the emission probability distribution instead of another vonmises-fisher distribution.
Minor fix in vonmisestrackinglocalizer. Other changes are just plot settings
Added shaping coefficient for SRP likelihood
Added srppftrackinglocalizer and new executable for using srppf in 2d
Reset vonmisestrackinglocalizer to master version