changes from the laptop

- some should be the same as previous commit (sorry!)
- some should be new: LINT checks, ...?

sensors/gps/GPSData.h

@@ -2,7 +2,7 @@
 #define GPSDATA_H
 
 #include "../../data/Timestamp.h"
-
+#include "../../geo/EarthPos.h"
 
 struct GPSData {
 
@@ -25,6 +25,11 @@ struct GPSData {
 	/** ctor */
 	GPSData(const Timestamp tsReceived, const float lat, const float lon, const float alt, const float accuracy) : tsReceived(tsReceived), lat(lat), lon(lon), alt(alt), accuracy(accuracy), speed(NAN)  {;}
 
+	/** get as EarthPos struct */
+	EarthPos toEarthPos() const {
+		return EarthPos(lat, lon, alt);
+	}
+
 	/** data valid? */
 	bool isValid() const {
 		return (lat == lat) && (lon == lon);

sensors/gps/GPSProbability.h

@@ -0,0 +1,65 @@
+#ifndef GPSPROBABILITY_H
+#define GPSPROBABILITY_H
+
+#include "GPSData.h"
+#include "../../geo/Point3.h"
+#include "../../math/distribution/Region.h"
+#include "../../geo/EarthMapping.h"
+
+class GPSProbability {
+
+private:
+
+	/** convert between map and earth */
+	const EarthMapping& em;
+
+public:
+
+	/** ctor with the map<->earth translator */
+	GPSProbability(const EarthMapping& em) : em(em) {
+		;
+	}
+
+	/** get the probability for residing at pos_m [in meter, map-coordinates] given some GPS measurement */
+	double getProbability(const Point3 pos_m, const GPSData& d) const {
+
+		// pad GPS? -> no gps eval
+		if (isBad(d)) {return 1.0;}
+
+		// adjust accuracy [sometimes strange values are provided here!]
+		float accuracy = d.accuracy;
+		if (accuracy < 3.0) {
+			std::cout << "note: adjusting gps accuracy as '" << accuracy << "'' seems invalid" << std::endl;
+			accuracy = 3.0;
+		}
+
+		// convert GPS to map coordinats
+		const Point3 gpsToMap_m = em.worldToMap(d.toEarthPos());
+
+		// distance between given point and GPS's estimation
+		const float dist = pos_m.getDistance(gpsToMap_m);
+
+		// calculate probability
+		//const double prob = Distribution::Region<double>::getProbability(0, d.accuracy, dist);
+		const double prob = Distribution::Normal<double>::getProbability(0, accuracy, dist);
+
+		// sanity checks
+		Assert::isNot0(prob, "gps probability is 0.0");
+		Assert::isNotNaN(prob, "gps probability is NaN");
+
+		// done
+		return prob;
+
+	}
+
+private:
+
+	/** returns true if the given GPS reading is bad [inaccurate, invalid, ...] */
+	static inline bool isBad(const GPSData& d) {
+		return (!d.isValid()) || (d.accuracy == 0) || (d.accuracy > 25);
+	}
+
+
+};
+
+#endif // GPSPROBABILITY_H