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/model/WiFiModelLogDistCeiling.h

@@ -3,6 +3,7 @@
 
 #include "../../../floorplan/v2/Floorplan.h"
 
+#include "../../../Assertions.h"
 #include "WiFiModel.h"
 #include "LogDistanceModel.h"
 
@@ -12,11 +13,26 @@
  */
 class WiFiModelLogDistCeiling : public WiFiModel {
 
+public:
+
+	/** parameters describing one AP to the model */
+	struct APEntry {
+
+		Point3 position_m;	// the AP's position (in meter)
+		float txp;			// sending power (-40)
+		float exp;			// path-loss-exponent (~2.0 - 4.0)
+		float waf;			// attenuation per ceiling/floor (~-8.0)
+
+		/** ctor */
+		APEntry(const Point3 position_m, const float txp, const float exp, const float waf) :
+			position_m(position_m), txp(txp), exp(exp), waf(waf) {;}
+
+	};
+
 private:
 
-	float txp;		// sending power (-40)
-	float exp;		// path-loss-exponent (~2.0 - 4.0)
-	float waf;		// attenuation per ceiling/floor (~-8.0)
+	/** map of all APs (and their parameters) known to the model */
+	std::unordered_map<MACAddress, APEntry> accessPoints;
 
 	/** position (height) of all ceilings (in meter) */
 	std::vector<float> ceilingsAtHeight_m;
@@ -24,9 +40,7 @@ private:
 public:
 
 	/** ctor */
-	WiFiModelLogDistCeiling(const float txp, const float exp, const float waf, const Floorplan::IndoorMap* map) : txp(txp), exp(exp), waf(waf) {
-
-		Assert::isTrue(waf <= 0, "WAF must be a negative number!");
+	WiFiModelLogDistCeiling(const Floorplan::IndoorMap* map) {
 
 		// position of all ceilings
 		for (Floorplan::Floor* f : map->floors) {
@@ -35,23 +49,56 @@ public:
 
 	}
 
-	/** get the given access-point's RSSI at the provided location */
-	float getRSSI(const LocatedAccessPoint& ap, const Point3 p) override {
-		const int numCeilings = numCeilingsBetween(ap.z, p.z);
-		const float rssi = LogDistanceModel::distanceToRssi(txp, exp, ap.getDistance(p));
-		return rssi + (numCeilings * waf);
+	/** make the given AP (and its parameters) known to the model */
+	void addAP(const MACAddress& accessPoint, const APEntry& params) {
+
+		// sanity check
+		Assert::isBetween(params.waf, -99.0f, 0.0f, "WAF out of bounds [-99:0]");
+		Assert::isBetween(params.txp, -50.0f, -30.0f, "TXP out of bounds [-50:-30]");
+		Assert::isBetween(params.exp, 1.0f, 4.0f, "EXP out of bounds [1:4]");
+
+		// add
+		accessPoints.insert( std::pair<MACAddress, APEntry>(accessPoint, params) );
+
 	}
 
-private:
+	float getRSSI(const MACAddress& accessPoint, const Point3 position_m) const override {
+
+		// try to get the corresponding parameters
+		const auto it = accessPoints.find(accessPoint);
+
+		// AP unknown? -> NAN
+		if (it == accessPoints.end()) {return NAN;}
+
+		// the access-points' parameters
+		const APEntry& params = it->second;
+
+		// free-space (line-of-sight) RSSI
+		const float distance_m = position_m.getDistance(params.position_m);
+		const float rssiLOS = LogDistanceModel::distanceToRssi(params.txp, params.exp, distance_m);
+
+		// WAF loss (params.waf is a negative value!) -> WAF loss is also a negative value
+		const float wafLoss = params.waf * numCeilingsBetween(position_m, params.position_m);
+
+		// combine
+		return rssiLOS + wafLoss;
+
+	}
+
+
+
+protected:
+
+	FRIEND_TEST(LogDistanceCeilingModel, numCeilings);
 
 	/** get the number of ceilings between z1 and z2 */
-	int numCeilingsBetween(const float z1, const float z2) const {
+	int numCeilingsBetween(const Point3 pos1, const Point3 pos2) const {
 
 		int cnt = 0;
-		const float zMin = std::min(z1, z2);
-		const float zMax = std::max(z1, z2);
+		const float zMin = std::min(pos1.z, pos2.z);
+		const float zMax = std::max(pos1.z, pos2.z);
 
-		for (float z : ceilingsAtHeight_m) {
+		for (const float z : ceilingsAtHeight_m) {
 			if (zMin < z && zMax > z) {++cnt;}
 		}