added butterworth filter \n added activity rec for baro using butter \n added moduel for walker with activity

grid/walk/v2/modules/WalkModuleButterActivity.h

@@ -0,0 +1,64 @@
+#ifndef WALKMODULEBUTTERACTIVITY_H
+#define WALKMODULEBUTTERACTIVITY_H
+
+#include "WalkModule.h"
+#include "WalkStateHeading.h"
+
+#include "../../../../geo/Heading.h"
+#include "../../../../math/Distributions.h"
+#include "../../../../sensors/pressure/ActivityButterPressure.h"
+
+
+/** favor z-transitions */
+template <typename Node, typename WalkState> class WalkModuleButterActivity : public WalkModule<Node, WalkState> {
+
+public:
+
+	/** ctor */
+    WalkModuleButterActivity() {
+		;
+	}
+
+	virtual void updateBefore(WalkState& state) override {
+		(void) state;
+	}
+
+	virtual void updateAfter(WalkState& state, const Node& startNode, const Node& endNode) override {
+		(void) state;
+		(void) startNode;
+		(void) endNode;
+
+	}
+
+	virtual void step(WalkState& state, const Node& curNode, const Node& nextNode) override {
+		(void) state;
+		(void) curNode;
+		(void) nextNode;
+	}
+
+	double getProbability(const WalkState& state, const Node& startNode, const Node& curNode, const Node& potentialNode) const override {
+
+		(void) state;
+		(void) startNode;
+
+        const int deltaZ_cm = curNode.z_cm - potentialNode.z_cm;
+
+        if(state.act == ActivityButterPressure::Activity::DOWN){
+            if (deltaZ_cm < 0) {return 0;}
+            if (deltaZ_cm == 0) {return 0.1;}
+            return 0.9;
+        } else if (state.act == ActivityButterPressure::Activity::UP){
+            if (deltaZ_cm > 0) {return 0;}
+            if (deltaZ_cm == 0) {return 0.1;}
+            return 0.9;
+        } else {
+            if (deltaZ_cm == 0) {return 0.9;}
+            return 0.1;
+        }
+
+	}
+
+
+};
+
+#endif // WALKMODULEBUTTERACTIVITY_H