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/model/WiFiModelLogDistCeiling.h

@@ -0,0 +1,65 @@
+#ifndef WIFIMODELLOGDISTCEILING_H
+#define WIFIMODELLOGDISTCEILING_H
+
+#include "../../../floorplan/v2/Floorplan.h"
+
+#include "WiFiModel.h"
+#include "LogDistanceModel.h"
+
+/**
+ * signal-strength estimation using log-distance model
+ * including ceilings between AP and position
+ */
+class WiFiModelLogDistCeiling : public WiFiModel {
+
+private:
+
+	float txp;		// sending power (-40)
+	float exp;		// path-loss-exponent (~2.0 - 4.0)
+	float waf;		// attenuation per ceiling/floor (~-8.0)
+
+	/** position (height) of all ceilings (in meter) */
+	std::vector<float> ceilingsAtHeight_m;
+
+public:
+
+	/** ctor */
+	WiFiModelLogDistCeiling(const float txp, const float exp, const float waf, const Floorplan::IndoorMap* map) : txp(txp), exp(exp), waf(waf) {
+
+		Assert::isTrue(waf <= 0, "WAF must be a negative number!");
+
+		// position of all ceilings
+		for (Floorplan::Floor* f : map->floors) {
+			ceilingsAtHeight_m.push_back(f->atHeight);
+		}
+
+	}
+
+	/** get the given access-point's RSSI at the provided location */
+	float getRSSI(const LocatedAccessPoint& ap, const Point3 p) override {
+		const int numCeilings = numCeilingsBetween(ap.z, p.z);
+		const float rssi = LogDistanceModel::distanceToRssi(txp, exp, ap.getDistance(p));
+		return rssi + (numCeilings * waf);
+	}
+
+private:
+
+	/** get the number of ceilings between z1 and z2 */
+	int numCeilingsBetween(const float z1, const float z2) const {
+
+		int cnt = 0;
+		const float zMin = std::min(z1, z2);
+		const float zMax = std::max(z1, z2);
+
+		for (float z : ceilingsAtHeight_m) {
+			if (zMin < z && zMax > z) {++cnt;}
+		}
+
+		return cnt;
+
+	}
+
+};
+
+
+#endif // WIFIMODELLOGDISTCEILING_H