many changes and updates

- changed the wifi-estimation api
- adjusted test-cases
- worked on grid-bulding and grid-importance
- new walking modules
- fixed some minor issues

grid/walk/v2/modules/WalkModuleFavorZ.h

@@ -0,0 +1,54 @@
+#ifndef WALKMODULEFAVORZ_H
+#define WALKMODULEFAVORZ_H
+
+#include "WalkModule.h"
+#include "WalkStateHeading.h"
+
+#include "../../../../geo/Heading.h"
+#include "../../../../math/Distributions.h"
+
+
+/** favor z-transitions */
+template <typename Node, typename WalkState> class WalkModuleFavorZ : public WalkModule<Node, WalkState> {
+
+public:
+
+	/** ctor */
+	WalkModuleFavorZ() {
+		;
+	}
+
+	virtual void updateBefore(WalkState& state) override {
+		(void) state;
+	}
+
+	virtual void updateAfter(WalkState& state, const Node& startNode, const Node& endNode) override {
+		(void) state;
+		(void) startNode;
+		(void) endNode;
+
+	}
+
+	virtual void step(WalkState& state, const Node& curNode, const Node& nextNode) override {
+		(void) state;
+		(void) curNode;
+		(void) nextNode;
+	}
+
+	double getProbability(const WalkState& state, const Node& startNode, const Node& curNode, const Node& potentialNode) const override {
+
+		(void) state;
+		(void) startNode;
+
+		if (curNode.z_cm != potentialNode.z_cm) {
+			return 8;
+		} else {
+			return 1;
+		}
+
+	}
+
+
+};
+
+#endif // WALKMODULEFAVORZ_H

grid/walk/v2/modules/WalkModuleHeadingControl.h

@@ -26,14 +26,14 @@ private:
 public:
 
 	/** ctor 3.0 should be OK! */
-	WalkModuleHeadingControl(Control* ctrl) : dist(Distribution::VonMises<double>(0.0f, 1.5).getLUT()), draw(dist.getDrawList()), ctrl(ctrl) {
+	WalkModuleHeadingControl(Control* ctrl) : dist(Distribution::VonMises<double>(0.0f, 2.0).getLUT()), draw(dist.getDrawList()), ctrl(ctrl) {
 		;
 	}
 
 
 	virtual void updateBefore(WalkState& state) override {
 
-		const float var = draw.get() * 0.15;//0.05;
+		const float var = draw.get() * 0.20;//0.05;
 		//const float var = 0;
 		state.startHeading += ctrl->turnAngle + var;
 

grid/walk/v2/modules/WalkModuleNodeImportance.h

@@ -44,8 +44,8 @@ public:
 		(void) curNode;
 
 		const double prob = potentialNode.getNavImportance();
-		return std::pow(prob, 10);
-		//return prob;
+		//return std::pow(prob, 10);
+		return prob;
 
 	}