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...

grid/factory/GridFactory.h

@@ -143,8 +143,8 @@ public:
 			int y = n1.y_cm + yDiff * percent;
 
 			// snap (x,y) to the grid???
-			//x = std::round(x / gridSize_cm) * gridSize_cm;
-			//y = std::round(y / gridSize_cm) * gridSize_cm;
+			x = std::round(x / gridSize_cm) * gridSize_cm;
+			y = std::round(y / gridSize_cm) * gridSize_cm;
 
 			// create a new node add it to the grid, and connect it with the previous one
 			idx2 = grid.addUnaligned(T(x,y,z));