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

geo/Angle.h

@@ -40,6 +40,18 @@ public:
 		return (tmp <= M_PI) ? (tmp) : (2*M_PI-tmp);
 	}
 
+	/**
+	 * gets the angular difference between
+	 * - the given radians [0:2PI]
+	 * - as a change-in-direction between [-PI:+PI]
+	 */
+	static float getSignedDiffRAD_2PI(const float r1, const float r2) {
+		Assert::isBetween(r1, 0.0f, (float)(2*M_PI), "r1 out of bounds");
+		Assert::isBetween(r2, 0.0f, (float)(2*M_PI), "r2 out of bounds");
+		const float a1 = (r2-r1);
+		if (std::abs(a1) < M_PI) {return a1;} else {return (M_PI-a1);}
+	}
+
 	/** convert degrees to radians */
 	static constexpr float degToRad(const float deg) {
 		return deg / 180.0f * M_PI;