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...

tests/misc/TestKNN.cpp

@@ -0,0 +1,43 @@
+#ifdef WITH_TESTS
+
+#include "../Tests.h"
+
+#include <vector>
+#include "../../misc/KNN.h"
+#include "../../misc/KNNArray.h"
+#include "../../geo/Point3.h"
+
+/** test knn-search using the array-wrapper */
+TEST(KNN, array) {
+
+	// construct 3D cross
+	std::vector<Point3> points;
+
+	for (int x = -10; x <= 10; ++x) { if (0 == x) {continue;} points.push_back(Point3(x,0,0)); }	// idx 0 - 19
+	for (int y = -10; y <= 10; ++y) { if (0 == y) {continue;} points.push_back(Point3(0,y,0)); }	// idx 20 - 39
+	for (int z = -10; z <= 10; ++z) { if (0 == z) {continue;} points.push_back(Point3(0,0,z)); } // idx 40 - 59
+	points.push_back(Point3(0,0,0)); // idx 60
+
+	// construct KNN search
+	KNNArray<std::vector<Point3>> arr(points);
+	KNN<KNNArray<std::vector<Point3>>, 3> knn(arr);
+
+	// test center
+	ASSERT_EQ(60, knn.getNearestIndex({0,0,0}) );
+
+	// test X min/max
+	ASSERT_EQ(0, knn.getNearestIndex({-20,0,0}) );
+	ASSERT_EQ(19, knn.getNearestIndex({20,0,0}) );
+
+	// test Y min/max
+	ASSERT_EQ(20, knn.getNearestIndex({0,-20,0}) );
+	ASSERT_EQ(39, knn.getNearestIndex({0,20,0}) );
+
+	// test Z min/max
+	ASSERT_EQ(40, knn.getNearestIndex({0,0,-20}) );
+	ASSERT_EQ(59, knn.getNearestIndex({0,0,20}) );
+
+}
+
+
+#endif