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

tests/geo/TestAngle.cpp

@@ -28,6 +28,19 @@ TEST(Angle, calc) {
 
 }
 
+TEST(Angle, signedDiff) {
+
+	const float d = 0.00001f;
+	ASSERT_NEAR(+M_PI/2,	Angle::getSignedDiffRAD_2PI(0, M_PI/2), d);			// CCW
+	ASSERT_NEAR(-M_PI/2,	Angle::getSignedDiffRAD_2PI(M_PI/2, 0), d);			// CW -> negative
+
+	ASSERT_NEAR(+M_PI/2,	Angle::getSignedDiffRAD_2PI(M_PI/2, M_PI), d);		// CCW
+	ASSERT_NEAR(-M_PI/2,	Angle::getSignedDiffRAD_2PI(M_PI, M_PI/2), d);		// CW -> negative
+
+	ASSERT_NEAR(-M_PI/2,	Angle::getSignedDiffRAD_2PI(0, M_PI*1.5), d);		// CW -> negative
+
+}
+
 TEST(Angle, diff) {
 
 	const float r = Angle::getRAD_2PI(0,0,	+1,0);		// to the right

tests/geo/TestHeading.cpp

@@ -26,6 +26,16 @@ TEST(Heading, diff) {
 
 }
 
+TEST(Heading, mod) {
+
+	const float d = 0.0001;
+
+	Heading h1(+0);	h1 += 3.1415;	ASSERT_NEAR(3.1415, h1.getRAD(), d);
+	Heading h2(+4);	h2 += 3;		ASSERT_NEAR(7 - 2*M_PI, h2.getRAD(), d);
+	Heading h3(+0); h3 -= 3;		ASSERT_NEAR(2*M_PI-3, h3.getRAD(), d);
+
+}
+
 TEST(Heading, ctor) {
 
 	// OK