added several grid-walks

added new helper methods/classes (e.g. for heading)
new test cases
optimize the dijkstra
cleanups/refactoring
added timed-benchmarks to the log
many more...

geo/Heading.h

@@ -0,0 +1,63 @@
+#ifndef HEADING_H
+#define HEADING_H
+
+#include <cmath>
+
+#include "Angle.h"
+
+struct Heading {
+
+#define _2PI (2*M_PI)
+
+private:
+
+	/** heading in radians. 0 = to-the-right */
+	float rad;
+
+public:
+
+	/** ctor with radians */
+	Heading(const float rad) : rad(rad) {
+		_assertBetween(rad, 0, _2PI, "radians out of bounds");
+	}
+
+	/** ctor from(x1,y1) to(x2,y2) */
+	Heading(const float x1, const float y1, const float x2, const float y2) : rad(Angle::getRAD_2PI(x1,y1,x2,y2)) {
+		_assertBetween(rad, 0, _2PI, "radians out of bounds");
+	}
+
+	/** angular difference [0:PI] */
+	float getDiffHalfRAD(const Heading other) const {
+		return Angle::getDiffRAD_2PI_PI(rad, other.rad);
+	}
+
+	/** update the angle but ensure we stay within [0:2PI] */
+	Heading& operator += (const float _rad) {
+		_assertBetween(_rad, -_2PI*0.99, +_2PI*0.99, "radians out of bounds");
+		rad += _rad;
+		if (rad > _2PI)		{rad -= _2PI;}
+		if (rad < 0)		{rad += _2PI;}
+		return *this;
+	}
+
+	/** get an inverted version of this heading (upwards -> downwards, left -> right, ...) */
+	Heading getInverted() const {
+		Heading out(rad);
+		out += M_PI;
+		return out;
+	}
+
+	float getRAD() const {return rad;}
+
+#undef _2PI
+
+};
+
+namespace Headings {
+	static const Heading RIGHT =	Heading(M_PI*0/2);
+	static const Heading UP =		Heading(M_PI*1/2);
+	static const Heading LEFT =		Heading(M_PI*2/2);
+	static const Heading DOWN =		Heading(M_PI*3/2);
+}
+
+#endif // HEADING_H