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/Heading.h

@@ -27,25 +27,53 @@ public:
 		Assert::isBetween(rad, 0.0f, (float)_2PI, "radians out of bounds");
 	}
 
-	/** angular difference [0:PI] */
+	/** POSITIVE angular difference [0:PI] */
 	float getDiffHalfRAD(const Heading other) const {
 		return Angle::getDiffRAD_2PI_PI(rad, other.rad);
 	}
 
+	/** signled angular difference [-PI:+PI] */
+	float getSignedDiff(const Heading other) const {
+		return Angle::getSignedDiffRAD_2PI(rad, other.rad);
+	}
+
 	/** update the angle but ensure we stay within [0:2PI] */
 	Heading& operator += (const float _rad) {
-		Assert::isBetween(_rad, float(-_2PI*0.99), float(+_2PI*0.99), "radians out of bounds");
+//		Assert::isBetween(_rad, float(-_2PI*0.999), float(+_2PI*0.999), "radians out of bounds");
+//		Assert::isBetween(_rad, float(-_2PI), float(+_2PI), "radians out of bounds");
 		rad += _rad;
-		if		(rad >= _2PI)	{rad -= _2PI;}
-		else if	(rad < 0)		{rad += _2PI;}
+		while	(rad >= _2PI)	{rad -= _2PI;}
+		while	(rad < 0)		{rad += _2PI;}
 		return *this;
 	}
 
+	/** update the angle but ensure we stay within [0:2PI] */
+	Heading& operator -= (const float _rad) {
+		return *this += (-_rad);
+	}
+
 	/** update the angle but ensure we stay within [0:2PI] */
 	Heading operator + (const float _rad) const {
 		return (Heading(*this) += _rad);
 	}
 
+	/** update the angle but ensure we stay within [0:2PI] */
+	Heading operator - (const float _rad) const {
+		return (Heading(*this) -= _rad);
+	}
+
+
+	/** update the angle but ensure we stay within [0:2PI] */
+	Heading operator - (const Heading head) const {
+		return *this - head.rad;
+	}
+
+	/** update the angle but ensure we stay within [0:2PI] */
+	Heading operator + (const Heading head) const {
+		return *this + head.rad;
+	}
+
+
         Heading& operator = (const float _rad) {
             rad = _rad;
             return *this;