many small changes, added filereader with beacons, added motion detection stuff, testcases

sensors/imu/GravityData.h

@@ -0,0 +1,53 @@
+#ifndef GRAVITYDATA_H
+#define GRAVITYDATA_H
+
+#include <cmath>
+#include <sstream>
+
+
+/** data received from an accelerometer sensor */
+struct GravityData {
+
+	float x;
+	float y;
+	float z;
+
+    GravityData() : x(0), y(0), z(0) {;}
+
+    GravityData(const float x, const float y, const float z) : x(x), y(y), z(z) {;}
+
+	float magnitude() const {
+		return std::sqrt( x*x + y*y + z*z );
+	}
+
+    GravityData& operator += (const GravityData& o) {
+		this->x += o.x;
+		this->y += o.y;
+		this->z += o.z;
+		return *this;
+	}
+
+    GravityData& operator -= (const GravityData& o) {
+		this->x -= o.x;
+		this->y -= o.y;
+		this->z -= o.z;
+		return *this;
+	}
+
+    GravityData operator - (const GravityData& o) const {
+        return GravityData(x-o.x, y-o.y, z-o.z);
+	}
+
+    GravityData operator / (const float val) const {
+        return GravityData(x/val, y/val, z/val);
+	}
+
+        std::string asString() const {
+            std::stringstream ss;
+            ss << "(" << x << "," << y << "," << z << ")";
+            return ss.str();
+        }
+
+};
+
+#endif // GRAVITYDATA_H