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

sensors/radio/WiFiProbabilityFree.h

@@ -8,8 +8,8 @@
 #include <unordered_map>
 
 /**
- * compare WiFi-Measurements within LIVE (exact) predictions
- * just based on the distance to the access-point
+ * compare WiFi-Measurements within predictions of a given model.
+ * predictions are just based on the distance to the access-point.
  */
 class WiFiObserverFree : public WiFiProbability {
 
@@ -19,17 +19,16 @@ private:
 
 	const float sigmaPerSecond = 1.5f;
 
+	/** the RSSI prediction model */
 	WiFiModel& model;
-	std::unordered_map<MACAddress, LocatedAccessPoint> aps;
+
+	/** the map's floorplan */
 	Floorplan::IndoorMap* map;
 
+
 public:
 
-	WiFiObserverFree(const float sigma, WiFiModel& model, const std::vector<LocatedAccessPoint>& aps) : sigma(sigma), model(model) {
-
-		for (const LocatedAccessPoint& ap : aps) {
-			this->aps.insert(std::pair<MACAddress, LocatedAccessPoint>(ap.getMAC(), ap));
-		}
+	WiFiObserverFree(const float sigma, WiFiModel& model) : sigma(sigma), model(model) {
 
 	}
 
@@ -38,18 +37,17 @@ public:
 
 		double prob = 1.0;
 
+		// process each measured AP
 		for (const WiFiMeasurement& entry : obs.entries) {
 
-			auto it = aps.find(entry.getAP().getMAC());
+			// get the model's RSSI (if possible!)
+			const float modelRSSI = model.getRSSI(entry.getAP().getMAC(), pos);
 
-			// AP is unknown
-			if (it == aps.end()) {continue;}
+			// NaN? -> AP not known to the model -> skip
+			if (modelRSSI != modelRSSI) {continue;}
 
-			// get the AP
-			const LocatedAccessPoint& ap = it->second;
 
-			// model and scan rssi
-			const float modelRSSI = model.getRSSI(ap, pos);
+			// the scan's RSSI
 			const float scanRSSI = entry.getRSSI();
 
 			// the measurement's age