huge commit

- worked on about everything
- grid walker using plugable modules
- wifi models
- new distributions
- worked on geometric data-structures
- added typesafe timestamps
- worked on grid-building
- added sensor-classes
- added sensor analysis (step-detection, turn-detection)
- offline data reader
- many test-cases

floorplan/v2/Floorplan.h

@@ -1,6 +1,7 @@
-#ifndef FLOORPLAN_H
-#define FLOORPLAN_H
+#ifndef FLOORPLAN2_H
+#define FLOORPLAN2_H
 
+#include <algorithm>
 #include <string>
 #include <vector>
 #include <initializer_list>
@@ -11,6 +12,11 @@
 
 namespace Floorplan {
 
+	/** convert string to upper case */
+	inline std::string toUpperCase(std::string str) {
+		std::transform(str.begin(), str.end(), str.begin(), ::toupper);
+		return str;
+	}
 
 	/** a free key-value meta element */
 	struct Meta {
@@ -138,6 +144,7 @@ namespace Floorplan {
 	};
 
 
+
 	/** a POI located somewhere on a floor */
 	struct POI {
 		POIType type;
@@ -154,7 +161,7 @@ namespace Floorplan {
 		std::string mac;
 		Point3 pos;		// z is relative to the floor's height
 		AccessPoint() : name(), mac(), pos() {;}
-		AccessPoint(const std::string& name, const std::string& mac, const Point3& pos) : name(name), mac(mac), pos(pos) {;}
+		AccessPoint(const std::string& name, const std::string& mac, const Point3& pos) : name(name), mac(toUpperCase(mac)), pos(pos) {;}
 		bool operator == (const AccessPoint& o) const {return (o.name == name) && (o.mac == mac) && (o.pos == pos);}
 		Point3 getPos(const Floor* f) const {return pos + Point3(0,0,f->atHeight);}	// relative to the floor's ground
 	};
@@ -414,4 +421,4 @@ namespace Floorplan {
 
 }
 
-#endif // FLOORPLAN_H
+#endif // FLOORPLAN2_H

floorplan/v2/FloorplanHelper.h

@@ -0,0 +1,97 @@
+#ifndef FLOORPLANHELPER2_H
+#define FLOORPLANHELPER2_H
+
+#include "../../geo/BBox3.h"
+#include "../../geo/Line2.h"
+#include "../../Assertions.h"
+
+#include "Floorplan.h"
+
+/**
+ * helper methods for the floorplan
+ */
+class FloorplanHelper {
+
+public:
+
+	/** get a BBox for the whole map */
+	static BBox3 getBBox(const Floorplan::IndoorMap* map) {
+
+		BBox3 bbox;
+
+		for (const Floorplan::Floor* floor : map->floors) {
+			const BBox3 bbFloor = getBBox(floor);
+			bbox.add(bbFloor);
+		}
+
+		return bbox;
+
+	}
+
+	/** get a BBox for the whole floor */
+	static BBox3 getBBox(const Floorplan::Floor* floor) {
+
+		BBox3 bbox;
+
+		Assert::isNot0(floor->outline.size(), "floor " + floor->name + " has no outline!");
+
+		for (const Floorplan::FloorOutlinePolygon* poly : floor->outline) {
+			for (const Point2 p2 : poly->poly.points) {
+				bbox.add(Point3(p2.x, p2.y, floor->atHeight));
+				bbox.add(Point3(p2.x, p2.y, floor->atHeight + floor->height));
+			}
+		}
+
+		return bbox;
+
+	}
+
+	/** does the map contain an obstacle that intersects the given line? (in meter!) */
+	static bool intersectsObstacle(const Floorplan::IndoorMap* map, const Point3& p1, const Point3& p2) {
+
+		// sanity check
+		if (std::abs(p2.z-p1.z) > 0.5) {
+			return false;}
+
+		for (const Floorplan::Floor* floor : map->floors) {
+			if (intersectsObstacle(floor, p1, p2)) {return true;}
+		}
+
+		return false;
+
+	}
+
+	/** does the floor contain an obstacle that intersects the given line? (in meter!) */
+	static bool intersectsObstacle(const Floorplan::Floor* floor, const Point3& p1, const Point3& p2) {
+
+		// sanity check
+		if (std::abs(p2.z-p1.z) > 0.5) {
+			return false;}
+
+		// only inspect elements that lie near the ground
+		if (p1.z < floor->getStartingZ() - 0.15)	{return false;}
+		if (p1.z > floor->getStartingZ() + 0.15)	{return false;}
+
+		const Line2 line1(p1.x,p1.y,   p2.x,p2.y);
+
+		for (const Floorplan::FloorObstacle* obs : floor->obstacles) {
+
+			if (dynamic_cast<const Floorplan::FloorObstacleLine*>(obs)) {
+				const Floorplan::FloorObstacleLine* obsLine = dynamic_cast<const Floorplan::FloorObstacleLine*>(obs);
+				const Line2 line2(obsLine->from.x, obsLine->from.y, obsLine->to.x, obsLine->to.y);
+				if (line1.getSegmentIntersection(line2)) {return true;}
+			} else if (dynamic_cast<const Floorplan::FloorObstacleDoor*>(obs)) {
+				;
+			} else {
+				throw "not yet supported";
+			}
+
+		}
+
+		return false;
+
+	}
+
+};
+
+#endif // FLOORPLANHELPER2_H