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/sensors/imu/TestTurnDetection.cpp

@@ -0,0 +1,71 @@
+#ifdef WITH_TESTS
+
+#include "../../Tests.h"
+
+#include "../../../sensors/imu/TurnDetection.h"
+
+TEST(TurnDetection, rotationMatrix) {
+
+	Eigen::Vector3f dst; dst << 0, 0, 1;
+	Eigen::Vector3f src; src << 1, 1, 0; src.normalize();
+
+	// get a matrix that rotates "src" into "dst"
+	Eigen::Matrix3f rot = TurnDetection::getRotationMatrix(src, dst);
+
+	Eigen::Vector3f res = rot * src;
+
+	ASSERT_NEAR(dst(0), res(0), 0.01);
+	ASSERT_NEAR(dst(1), res(1), 0.01);
+	ASSERT_NEAR(dst(2), res(2), 0.01);
+
+}
+
+TEST(TurnDetection, gyroRotate) {
+
+
+	Eigen::Vector3f zAxis; zAxis << 0, 0, 1;
+	Eigen::Vector3f acc; acc << 0, 7.0, 7.0;
+
+	Eigen::Matrix3f rot = TurnDetection::getRotationMatrix(acc, zAxis);
+
+	Eigen::Vector3f gyro; gyro << 0, 60, 60;
+
+	Eigen::Vector3f gyro2; gyro2 << 0, 0, 84;
+
+	Eigen::Vector3f gyro3 = rot * gyro;
+
+	ASSERT_NEAR(0, (gyro2-gyro3).norm(), 1.0);
+
+}
+
+
+TEST(TurnDetection, xx) {
+
+	Eigen::Vector3f dst; dst << 0, 0, 1;
+	Eigen::Vector3f src; src << 0.0, 2.9, -10.0; src.normalize();		// sample accelerometer readings
+
+	Eigen::Matrix3f rot = TurnDetection::getRotationMatrix(src, dst);
+
+//	Eigen::Vector3f x; x << 1, 0, 0;
+//	Eigen::Vector3f z = src.normalized();
+//	Eigen::Vector3f y = z.cross(x);
+
+//	Eigen::Matrix3f rot;
+//	rot.row(0) = x;
+//	rot.row(1) = y;
+//	rot.row(2) = z;
+
+	Eigen::Vector3f res = rot * src;
+//	ASSERT_NEAR(dst(0), res(0), 0.01);
+//	ASSERT_NEAR(dst(1), res(1), 0.01);
+//	ASSERT_NEAR(dst(2), res(2), 0.01);
+
+	Eigen::Vector3f gyro; gyro << 0, 10, 30;
+
+	Eigen::Vector3f gyro2 = rot * gyro;
+	int i = 0; (void) i;
+
+}
+
+
+#endif