changes from the laptop

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

sensors/radio/WiFiProbabilityFree.h

@@ -27,15 +27,26 @@ private:
 	/** the map's floorplan */
 	Floorplan::IndoorMap* map;
 
+	std::vector<AccessPoint> allAPs;
+
+	bool useError = false;
+
 public:
 
 	WiFiObserverFree(const float sigma, WiFiModel& model) : sigma(sigma), model(model) {
+		allAPs = model.getAllAPs();
+	}
 
+	void setUseError(const bool useError) {
+		this->useError = useError;
 	}
 
 	double getProbability(const Point3& pos_m, const Timestamp curTime, const WiFiMeasurements& obs) const {
 
 		double prob = 1.0;
+		//double prob = 0;
+		double error = 0;
+
 		int numMatchingAPs = 0;
 
 		// process each measured AP
@@ -50,7 +61,6 @@ public:
 			// NaN? -> AP not known to the model -> skip
 			if (modelRSSI != modelRSSI) {continue;}
 
-
 			// the scan's RSSI
 			const float scanRSSI = entry.getRSSI();
 
@@ -60,24 +70,81 @@ public:
 			Assert::isTrue(age.ms() >= 0, "found a negative wifi measurement age. this does not make sense");
 			Assert::isTrue(age.ms() <= 60000, "found a 60 second old wifi measurement. maybe there is a coding error?");
 
+			Assert::isBetween(scanRSSI, -100.0f, -30.0f, "scan-rssi out of range");
+			//Assert::isBetween(modelRSSI, -160.0f, -10.0f, "model-rssi out of range");
+
 			// sigma grows with measurement age
 			const float sigma = this->sigma + this->sigmaPerSecond * age.sec();
 
+			// probability for this AP
+			//double local = Distribution::Normal<double>::getProbability(modelRSSI, sigma, scanRSSI);
+			double local = Distribution::Exponential<double>::getProbability(0.1, std::abs(modelRSSI-scanRSSI));
+
+			// also add the error value? [location is OK but model is wrong]
+			if (useError) {
+				local = 0.95 * local + 0.05 * (1.0-local);
+				//local = 0.95 * local + 0.05;
+#warning "TODO"
+			}
+
 			// update probability
-			prob *= Distribution::Normal<double>::getProbability(modelRSSI, sigma, scanRSSI);
-			//prob *= Distribution::Region<double>::getProbability(modelRSSI, sigma, scanRSSI);
+			prob *= local;
 
 			++numMatchingAPs;
 
 		}
 
 		// sanity check
-        //Assert::isTrue(numMatchingAPs > 0, "not a single measured AP was matched against known ones. coding error? model error?");
+		//Assert::isTrue(numMatchingAPs > 0, "not a single measured AP was matched against known ones. coding error? model error?");
 
 		return prob;
 
 	}
 
+	/**
+	 * for some locations it might make sense to also look at APs
+	 * that have NOT been discovered by the smartphone but SHOULD
+	 * be very well receivable at a location.
+	 * such locations can be opted-out by using this veto-probability
+	 */
+	double getVeto(const Point3& pos_m, const Timestamp curTime, const WiFiMeasurements& obs) const {
+
+		(void) curTime;
+
+		struct APR {
+			AccessPoint ap;
+			float rssi;
+			APR(const AccessPoint& ap, const float rssi) : ap(ap), rssi(rssi) {;}
+		};
+
+		std::vector<APR> all;
+		for (const AccessPoint& ap : allAPs) {
+			const float rssi = model.getRSSI(ap.getMAC(), pos_m);
+			if (rssi != rssi) {continue;}	// unknown to the model
+			all.push_back(APR(ap, rssi));
+		}
+
+		// stort by RSSI
+		auto comp = [&] (const APR& apr1, const APR& apr2) {return apr1.rssi > apr2.rssi;};
+		std::sort(all.begin(), all.end(), comp);
+
+		int numVetos = 0;
+
+		for (int i = 0; i < 3; ++i) {
+			const APR& apr = all[i];
+			const WiFiMeasurement* mes = obs.getForMac(apr.ap.getMAC());
+			const float rssiScan = (mes) ? (mes->getRSSI()) : (-100);
+			const float rssiModel = apr.rssi;
+			const float diff = std::abs(rssiScan - rssiModel);
+			if (diff > 20) {++numVetos;}
+		}
+
+		if (numVetos == 0)	{return 0.70;}
+		if (numVetos == 1)	{return 0.29;}
+		else				{return 0.01;}
+
+	}
+
 	template <typename Node> double getProbability(const Node& n, const Timestamp curTime, const WiFiMeasurements& obs, const int age_ms = 0) const {
 
         return this->getProbability(n.inMeter() + Point3(0,0,1.3), curTime, obs);