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The rest of the constructive recognition code written by @danielrademacher for his thesis.
The code in this PR has diverged from PR #371, and will need to be re-integrated with that, and of course master.
Note that I decided to discard the history from Daniel's repository; first off, it would have been a major pain to migrate it (the repository was not a fork of the recog repo, but rather a fresh repository that imported some version of the recog code, but I was not able to determine which exactly). Secondly, I don't think it is useful for the public to see what Daniel tried etc. over time.
I would also like to emphasize that Daniel never got around to "polishing" this code. There are some functions which "obviously" could be implemented much better, but that's not because Daniel wasn't aware, but because he was very good in deciding to not waste time on optimizing stuff while writing a prototype. Just write the first thing that comes to mind, and if it all comes together in the end, sit down and do it properly.
Anyway: I am not sure we'll ever merge this PR as-is, it may rather end up as a "quarry" from which we take code and get it merged in separate PRs.