Moved eval into own cpp to allow shorter compile times

code/Eval.cpp

@@ -0,0 +1,70 @@
+#include "Eval.h"
+
+#include "Settings.h"
+
+#include <Indoor/math/distribution/Normal.h>
+
+double ftmEval(SensorMode UseSensor, const Timestamp& currentTime, const Point3& particlePos, const std::vector<WiFiMeasurement>& measurements, std::shared_ptr<std::unordered_map<MACAddress, Kalman>> ftmKalmanFilters)
+{
+    double result = 1.0;
+
+    for (WiFiMeasurement wifi : measurements)
+    {
+        if (wifi.getNumSuccessfulMeasurements() < 3)
+        {
+            continue;
+        }
+
+        const MACAddress& mac = wifi.getAP().getMAC();
+        int nucIndex = Settings::nucIndex(mac);
+
+        const Point3 apPos = Settings::data.CurrentPath.nucInfo(nucIndex).position;
+        // particlePos.z = 1.3; // smartphone h<>he
+        const float apDist = particlePos.getDistance(apPos);
+
+        // compute ftm distance
+        float ftm_offset = Settings::data.CurrentPath.NUCs.at(mac).ftm_offset;
+        float ftmDist = wifi.getFtmDist() + ftm_offset; // in m; plus static offset
+
+        float rssi_pathloss = Settings::data.CurrentPath.NUCs.at(mac).rssi_pathloss;
+        float rssiDist = LogDistanceModel::rssiToDistance(-40, rssi_pathloss, wifi.getRSSI());
+
+        if (UseSensor == SensorMode::FTM)
+        {
+            if (ftmDist > 0)
+            {
+                //double sigma = wifi.getFtmDistStd()*wifi.getFtmDistStd(); // 3.5; // TODO
+                double sigma = 5;
+
+                if (ftmKalmanFilters != nullptr)
+                {
+                    Kalman& kalman = ftmKalmanFilters->at(mac);
+                    ftmDist = kalman.predict(currentTime, ftmDist);
+                    //sigma = std::sqrt(kalman.P(0, 0));
+
+                    Assert::isTrue(sigma > 0, "sigma");
+
+                    double x = Distribution::Normal<double>::getProbability(ftmDist, sigma, apDist);
+
+                    result *= x;
+                }
+                else
+                {
+                    double x = Distribution::Normal<double>::getProbability(ftmDist, sigma, apDist);
+
+                    result *= x;
+                }
+            }
+        }
+        else
+        {
+            // RSSI
+            double sigma = 5;
+
+            double x = Distribution::Normal<double>::getProbability(rssiDist, sigma, apDist);
+            result *= x;
+        }
+    }
+
+    return result;
+}