fixed some issues

added new pose/turn detections
new helper classes
define-flags for libEigen

math/MovingMinMaxTS.h

@@ -0,0 +1,73 @@
+#ifndef MOVINGMINMAXTS_H
+#define MOVINGMINMAXTS_H
+
+#include <vector>
+#include "../data/Timestamp.h"
+#include <algorithm>
+
+template <typename T> class MovingMinMaxTS {
+
+private:
+
+	/** timestamp -> value combination */
+	struct Entry {
+		Timestamp ts;
+		T value;
+		Entry(const Timestamp ts, const T& value) : ts(ts), value(value) {;}
+	};
+
+	/** the regional window to use */
+	Timestamp window;
+
+	/** the value history for the window-size */
+	std::vector<Entry> history;
+
+	/** current sum */
+	T sum;
+
+public:
+
+
+	/** ctor with the window-size to use */
+	MovingMinMaxTS(const Timestamp window, const T zeroElement) : window(window), sum(zeroElement) {
+
+	}
+
+	/** add a new entry */
+	void add(const Timestamp ts, const T& data) {
+
+		// append to history
+		history.push_back(Entry(ts, data));
+
+		// remove too-old history entries
+		const Timestamp oldest = ts - window;
+		while(history.front().ts < oldest) {
+
+			// remove from history
+			history.erase(history.begin());
+
+		}
+
+	}
+
+	/** get the current min element */
+	T getMin() const {
+		auto comp = [] (const Entry& e1, const Entry& e2) {return e1.value < e2.value;};
+		auto it = std::min_element(history.begin(), history.end(), comp);
+		return it->value;
+	}
+
+	/** get the current max element */
+	T getMax() const {
+		auto comp = [] (const Entry& e1, const Entry& e2) {return e1.value < e2.value;};
+		auto it = std::max_element(history.begin(), history.end(), comp);
+		return it->value;
+	}
+
+	T getRange() const {
+		return getMax() - getMin();
+	}
+
+};
+
+#endif // MOVINGMINMAXTS_H