changed visualisation

added new eval code for new walkers
improved barometer (moving avg and median)
floorplan-staircase-fixes
disabled step-turn (now part of transition)
added abs-orientation-reader (for testing)
added beacons

code/frank/OrientationSensorReader.h

@@ -1,4 +1,42 @@
 #ifndef ORIENTATIONSENSORREADER_H
 #define ORIENTATIONSENSORREADER_H
 
+
+#include "../reader/SensorReader.h"
+#include "OrientationObservation.h"
+
+#include <cassert>
+
+class OrientationSensorReader {
+
+public:
+
+	/** get wifi observation data from one CSV entry */
+	static OrientationObservation read(const SensorEntry& se) {
+
+		std::string tmp = se.data;
+		OrientationObservation obs;
+
+		size_t pos1 = tmp.find(';');
+		size_t pos2 = tmp.find(';', pos1+1);
+		size_t pos3 = tmp.find(';', pos2+1);
+
+		assert(pos1 != std::string::npos);
+		assert(pos2 != std::string::npos);
+		assert(pos3 != std::string::npos);
+
+		const std::string s1 = tmp.substr(0, pos1);
+		const std::string s2 = tmp.substr(pos1+1, pos2-pos1-1);
+		const std::string s3 = tmp.substr(pos2+1, pos3-pos2-1);
+
+		obs.values[0] = std::stof(s1);
+		obs.values[1] = std::stof(s2);
+		obs.values[2] = std::stof(s3);
+
+		return obs;
+
+	}
+
+};
+
 #endif // ORIENTATIONSENSORREADER_H