new walker (control+path)

added new sanity checks
fixed minor errors
added corresponding test-cases
added moving-median

tests/math/TestMovingMedian.cpp

@@ -0,0 +1,22 @@
+#ifdef WITH_TESTS
+
+#include "../Tests.h"
+#include "../../math/MovingMedian.h"
+
+TEST(MovingMedian, add) {
+
+	MovingMedian<float> med(3);
+
+	med.add(1); ASSERT_EQ(1, med.get());
+	med.add(2); ASSERT_EQ(1.5, med.get());
+	med.add(3); ASSERT_EQ(2, med.get());
+
+	med.add(3); ASSERT_EQ(3, med.get());
+	med.add(1); ASSERT_EQ(3, med.get());
+	med.add(1); ASSERT_EQ(1, med.get());
+	med.add(2); ASSERT_EQ(1, med.get());
+	med.add(3); ASSERT_EQ(2, med.get());
+
+}
+
+#endif