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/WalkModuleHeading.h

@@ -0,0 +1,76 @@
+#ifndef WALKMODULEHEADING_H
+#define WALKMODULEHEADING_H
+
+#include "WalkModule.h"
+#include "WalkStateHeading.h"
+
+#include "../../../../geo/Heading.h"
+#include "../../../../math/Distributions.h"
+
+
+/** keep the state's heading */
+template <typename Node, typename WalkState> class WalkModuleHeading : public WalkModule<Node, WalkState> {
+
+private:
+
+	/** van-Mises distribution */
+	Distribution::LUT<double> dist;
+
+	/** van-Mises draw list */
+	DrawList<double> draw;
+
+public:
+
+	/** ctor */
+	WalkModuleHeading() : dist(Distribution::VonMises<double>(0.0f, 1.0f).getLUT()), draw(dist.getDrawList()) {
+		;
+	}
+
+	virtual void updateBefore(WalkState& state) override {
+
+		(void) state;
+		state.startHeading += draw.get();
+
+	}
+
+	virtual void updateAfter(WalkState& state, const Node& startNode, const Node& endNode) override {
+
+//		if (startNode.x_cm != endNode.x_cm || startNode.y_cm != endNode.y_cm) {
+//			Heading head(startNode.x_cm, startNode.y_cm, endNode.x_cm, endNode.y_cm);
+//			state.startHeading = head;
+//		}
+
+	}
+
+	/** one step (edge) is taken */
+	virtual void step(WalkState& state, const Node& curNode, const Node& nextNode) override {
+
+		// TODO
+		(void) state;
+		(void) curNode;
+		(void) nextNode;
+
+	}
+
+	double getProbability(const WalkState& state, const Node& startNode, const Node& curNode, const Node& potentialNode) const override {
+
+		(void) startNode;
+
+		// get the heading between curNode and potentialNode
+		const Heading head(curNode.x_cm, curNode.y_cm, potentialNode.x_cm, potentialNode.y_cm);
+
+		// compare the heading against the state's heading
+		const Heading stateHead = state.startHeading;
+
+		// get the difference
+		const float angularDiff = head.getDiffHalfRAD(stateHead);//head.getRAD() - stateHead.getRAD();
+
+		// determine probability
+		return dist.getProbability(angularDiff);
+
+	}
+
+
+};
+
+#endif // WALKMODULEHEADING_H