started removing KLib related code:

- assertions
- distributions
new helper methods
worked on stairs
worked on grid-walkers
worked on navigation

grid/walk/GridWalkRandomHeadingUpdateAdv.h

@@ -6,9 +6,7 @@
 #include "../Grid.h"
 
 #include "../../math/DrawList.h"
-#include <KLib/math/distribution/Normal.h>
-#include <KLib/math/distribution/Exponential.h>
-
+#include "../../math/Distributions.h"
 #include "../../nav/dijkstra/Dijkstra.h"
 
 #include "GridWalkState.h"
@@ -55,11 +53,7 @@ public:
 
 private:
 
-	// https://de.wikipedia.org/wiki/Logistische_Verteilung
-	/** alpha = move the center, beta = slope */
-	const float logisticDist(const float x, const float alpha, const float beta) {
-		return 1 / (1 + std::exp( -((x-alpha)/beta) ) );
-	}
+
 
 
 	// NOTE: allocate >>ONCE<<! otherwise random numbers will NOT work!
@@ -83,10 +77,10 @@ private:
 			const float diffRad = potentialHeading.getDiffHalfRAD(cur.heading);
 
 			// weight this change
-			const float prob1 = K::NormalDistribution::getProbability(0, Angle::degToRad(40), diffRad);
+			const float prob1 = Distribution::Normal<float>::getProbability(0, Angle::degToRad(40), diffRad);
 
 			// add the node's importance factor into the calculation
-			const float prob2 = logisticDist(neighbor.imp, 1.0, 0.05);
+			const float prob2 = Distribution::Logistic<float>::getCDF(neighbor.imp, 1.0, 0.05);
 			//const float prob2 = std::pow(neighbor.imp, 10);
 
 			// final importance