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...

misc/Debug.h

@@ -4,23 +4,37 @@
 #include <string>
 #include <iostream>
 #include <iomanip>
+#include "Time.h"
 
 class Log {
 
 public:
 
+
+
 	static void add(const char* comp, const std::string what) {
 		addComp(comp);
-		std::cout << what << std::endl;
+		std::cout << what;
+		addTime();
+		std::cout << std::endl;
 	}
 
 	static void add(const std::string& component, const std::string what) {
 		addComp(component.c_str());
-		std::cout << what << std::endl;
+		std::cout << what;
+		addTime();
+		std::cout << std::endl;
 	}
 
 private:
 
+	static void addTime() {
+		static auto last = Time::tick();
+		const auto cur = Time::tick();
+		std::cout << " (+" << Time::diffMS(last, cur) << "ms)";
+		last = cur;
+	}
+
 	static void addComp(const char* component) {
 		std::cout << "[" << std::setw(12) << std::setfill(' ') << component << "] ";
 	}