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

sensors/radio/WiFiProbabilityFree.h

@@ -0,0 +1,77 @@
+#ifndef WIFIPROBABILITYFREE_H
+#define WIFIPROBABILITYFREE_H
+
+#include "WiFiProbability.h"
+#include "model/WiFiModel.h"
+#include "../../math/Distributions.h"
+
+#include <unordered_map>
+
+/**
+ * compare WiFi-Measurements within LIVE (exact) predictions
+ * just based on the distance to the access-point
+ */
+class WiFiObserverFree : public WiFiProbability {
+
+private:
+
+	const float sigma = 8.0f;
+
+	const float sigmaPerSecond = 1.5f;
+
+	WiFiModel& model;
+	std::unordered_map<MACAddress, LocatedAccessPoint> aps;
+	Floorplan::IndoorMap* map;
+
+public:
+
+	WiFiObserverFree(const float sigma, WiFiModel& model, const std::vector<LocatedAccessPoint>& aps) : sigma(sigma), model(model) {
+
+		for (const LocatedAccessPoint& ap : aps) {
+			this->aps.insert(std::pair<MACAddress, LocatedAccessPoint>(ap.getMAC(), ap));
+		}
+
+	}
+
+
+	double getProbability(const Point3& pos, const Timestamp curTime, const WiFiMeasurements& obs) const {
+
+		double prob = 1.0;
+
+		for (const WiFiMeasurement& entry : obs.entries) {
+
+			auto it = aps.find(entry.getAP().getMAC());
+
+			// AP is unknown
+			if (it == aps.end()) {continue;}
+
+			// get the AP
+			const LocatedAccessPoint& ap = it->second;
+
+			// model and scan rssi
+			const float modelRSSI = model.getRSSI(ap, pos);
+			const float scanRSSI = entry.getRSSI();
+
+			// the measurement's age
+			const Timestamp age = curTime - entry.getTimestamp();
+
+			// sigma grows with measurement age
+			const float sigma = this->sigma + this->sigmaPerSecond * age.sec();
+
+			// update probability
+			prob *= Distribution::Normal<double>::getProbability(modelRSSI, sigma, scanRSSI);
+
+
+		}
+
+		return prob;
+
+	}
+
+	template <typename Node> double getProbability(const Node& n, const Timestamp curTime, const WiFiMeasurements& obs, const int age_ms = 0) const {
+		throw "todo??";
+	}
+
+};
+
+#endif // WIFIPROBABILITYFREE_H