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

grid/walk/v2/modules/WalkModuleFollowDestination.h

@@ -0,0 +1,68 @@
+#ifndef WALKMODULEFOLLOWDESTINATION_H
+#define WALKMODULEFOLLOWDESTINATION_H
+
+#include "WalkModule.h"
+#include "../../../../nav/dijkstra/Dijkstra.h"
+
+/**
+ * favour edges p(e) that approach the destination
+ */
+template <typename Node, typename WalkState> class WalkModuleFollowDestination : public WalkModule<Node, WalkState> {
+
+private:
+
+	Dijkstra<Node> dijkstra;
+
+	struct DijkstraMapper {
+		const Grid<Node>& grid;
+		DijkstraMapper(const Grid<Node>& grid) : grid(grid) {;}
+		int getNumNeighbors(const Node& n) const {return n.getNumNeighbors();}
+		const Node* getNeighbor(const Node& n, const int idx) const {return &grid.getNeighbor(n, idx);}
+		float getWeightBetween(const Node& n1, const Node& n2) const {
+			return n1.getDistanceInCM(n2) * n2.navImportance;
+		}
+	};
+
+public:
+
+	/** ctor */
+	WalkModuleFollowDestination(Grid<Node>& grid, const Node& destination) {
+
+		// shortest path calculation
+		dijkstra.build(&destination, DijkstraMapper(grid));
+
+	}
+
+	virtual void updateBefore(WalkState& state) override {
+		(void) state;
+	}
+
+	virtual void step(WalkState& state, const Node& curNode, const Node& nextNode) override {
+		(void) state;
+		(void) curNode;
+		(void) nextNode;
+	}
+
+	virtual double getProbability(const WalkState& state, const Node& startNode, const Node& curNode, const Node& potentialNode) const override {
+
+		(void) state;
+		(void) startNode;
+
+		const float kappa = 0.8;
+		const DijkstraNode<Node>* dnCur = dijkstra.getNode(curNode);
+		const DijkstraNode<Node>* dnNext = dijkstra.getNode(potentialNode);
+
+		// probability
+		return (dnNext->cumWeight < dnCur->cumWeight) ? (kappa) : (1.0 - kappa);
+
+	}
+
+	virtual void updateAfter(WalkState& state, const Node& startNode, const Node& endNode) override {
+		(void) state;
+		(void) startNode;
+		(void) endNode;
+	}
+
+};
+
+#endif // WALKMODULEFOLLOWDESTINATION_H