fixed some issues

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

sensors/imu/StepDetection2.h

@@ -1,7 +1,6 @@
 #ifndef STEPDETECTION2_H
 #define STEPDETECTION2_H
 
-
 #include "AccelerometerData.h"
 #include "../../data/Timestamp.h"
 
@@ -52,6 +51,8 @@ private:
 
 	float threshold = 0.50;
 
+	float curFiltered = 0;
+
 	#ifdef WITH_DEBUG_PLOT
 		K::Gnuplot gp;
 		K::GnuplotPlot plot;
@@ -109,6 +110,10 @@ public:
 
 	}
 
+	float getCurFiltered() const {
+		return curFiltered;
+	}
+
 	/** does the given data indicate a step? */
 	bool add(const Timestamp ts, const AccelerometerData& acc) {
 
@@ -118,6 +123,7 @@ public:
 		auto onResample = [&] (const Timestamp ts, const AccelerometerData data) {
 
 			const float mag = data.magnitude();
+			Assert::isNotNaN(mag, "detected NaN magnitude");
 
 			// use long-term average to center around zero
 			avg.add(ts, mag);
@@ -128,6 +134,8 @@ public:
 //			if (f != f) {return;}
 			const float f = biquad.filter(mag0);
 			const float fMag = f;
+			curFiltered = fMag;
+			Assert::isNotNaN(fMag, "detected NaN filtered magnitude");
 
 			const bool isMax = locMax.add(fMag);
 
@@ -173,6 +181,8 @@ public:
 
 		};
 
+		//qDebug() << ts.ms() << " ---" << acc.x << " " << acc.y << " " << acc.z;
+
 		// ensure fixed sampling rate for FIR freq filters to work!
 		interpol.add(ts, acc, onResample);