started working on the tex-part

started working on eval-graphics
ned helper methods
tested some new aspects
some fixes and changes
added some graphics
new test-floorplan
many cleanups

code/lukas/TurnEvaluation.h

@@ -7,7 +7,7 @@
 //#include <boost/math/special_functions/bessel.hpp>
 #include <math.h>
 
-static constexpr double sigma_heading = 35;
+//static constexpr double sigma_heading = 5;
 
 class TurnEvaluation {
 
@@ -19,6 +19,24 @@ public:
 
 		return 1;
 
+		// get the current heading-change
+		const float delta = Angle::radToDeg(state.walkState.headingChange_rad);
+
+		// and reset it as it was evaluated
+		((MyState&) state).walkState.headingChange_rad = 0;
+
+		// proability?
+		const float sigma = 15.0;
+		const double prob = K::NormalDistribution::getProbability(obs->delta_heading, sigma, delta);
+
+		if (prob != prob) {
+			throw 1;
+		}
+
+		return prob;
+
+
+
 //        //Particle's heading change
 //        double delta_heading_particle = state.heading - state.heading_old;