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

nav/dijkstra/DijkstraPath.h

@@ -16,19 +16,19 @@ template <typename T> class DijkstraPath {
 private:
 
 	/** the constructed path */
-	std::vector<DijkstraNode<T>*> path;
+	std::vector<const DijkstraNode<T>*> path;
 
 public:
 
 	/** ctor from end- to start-node */
-	DijkstraPath(DijkstraNode<T>* end, DijkstraNode<T>* start) {
+	DijkstraPath(const DijkstraNode<T>* end, const DijkstraNode<T>* start) {
 
 		// sanity checks
 		Assert::isNotNull(end, "end-node must not be null");
 		Assert::isNotNull(start, "start-node must not be null");
 
 		// follow the path from the end to the start
-		DijkstraNode<T>* curNode = end;
+		const DijkstraNode<T>* curNode = end;
 		while (curNode != start) {
 
 			// sanity check in case no path between start and end exists
@@ -45,12 +45,16 @@ public:
 	/** allow iteration */
 	decltype(path.begin()) begin()								{return path.begin();}
 	decltype(path.end()) end()									{return path.end();}
+//	decltype(path.begin()) begin() const						{return ((std::vector<const DijkstraNode<T>*>)path).begin();}
+//	decltype(path.end()) end() const							{return ((std::vector<const DijkstraNode<T>*>)path).end();}
 	const DijkstraNode<T>& operator [] (const int idx) const	{return *(path[idx]);}
 	size_t size() const											{return path.size();}
 
 	/** get the idx-th element from the starting-node. if this is beyond the end, the last node is returned */
 	const DijkstraNode<T>& getFromStart(const int idx) const	{return (idx >= (int) path.size()) ? (*path.back()) : (*path[idx]);}
 
+	const std::vector<const DijkstraNode<T>*>& getVector() const {return path;}
+
 	/** NANOFLANN: number of elements in the path */
 	inline int kdtree_get_point_count() const {
 		return path.size();