added beacon stuff similiar architecture then wifi \n added activity percentage stuff \n added testcases

sensors/beacon/BeaconProbabilityFree.h

@@ -0,0 +1,93 @@
+#ifndef BEACONPROBABILITYFREE_H
+#define BEACONPROBABILITYFREE_H
+
+#include "BeaconProbability.h"
+#include "BeaconMeasurements.h"
+#include "model/BeaconModel.h"
+#include "../../math/Distributions.h"
+#include "../../data/Timestamp.h"
+
+#include "../../floorplan/v2/Floorplan.h"
+
+#include <unordered_map>
+
+/**
+ * compare BeaconMeasurements within predictions of a given model.
+ * predictions are just based on the distance to the observed beacon.
+ */
+class BeaconObserverFree : public BeaconProbability {
+
+private:
+
+	const float sigma = 8.0f;
+
+	const float sigmaPerSecond = 3.0f;
+
+	/** the RSSI prediction model */
+    BeaconModel& model;
+
+	/** the map's floorplan */
+	Floorplan::IndoorMap* map;
+
+public:
+
+    /** ctor */
+    BeaconObserverFree(const float sigma, BeaconModel& model) : sigma(sigma), model(model) {
+
+	}
+
+    /** provides the probability for a specific point in space */
+    double getProbability(const Point3& pos_m, const Timestamp curTime, const BeaconMeasurements& obs) const {
+
+		double prob = 1.0;
+        int numMatchingBeacons = 0;
+
+		// process each measured AP
+        for (const BeaconMeasurement& entry : obs.entries) {
+
+			// sanity check
+			Assert::isFalse(entry.getTimestamp().isZero(), "wifi measurement without timestamp. coding error?");
+
+            // updating the beacons sended txp if available
+            if(entry.getBeacon().getTXP() != 0.0f){
+                //TODO: check if this works
+                model.updateBeacon(entry);
+            }
+
+			// get the model's RSSI (if possible!)
+            const float modelRSSI = model.getRSSI(entry.getBeacon().getMAC(), pos_m);
+
+			// NaN? -> AP not known to the model -> skip
+			if (modelRSSI != modelRSSI) {continue;}
+
+
+			// the scan's RSSI
+			const float scanRSSI = entry.getRSSI();
+
+			// the measurement's age
+			const Timestamp age = curTime - entry.getTimestamp();
+
+			Assert::isTrue(age.ms() >= 0, "found a negative wifi measurement age. this does not make sense");
+			Assert::isTrue(age.ms() <= 40000, "found a 40 second old wifi measurement. maybe there is a coding error?");
+
+			// sigma grows with measurement age
+			const float sigma = this->sigma + this->sigmaPerSecond * age.sec();
+
+			// update probability
+			prob *= Distribution::Normal<double>::getProbability(modelRSSI, sigma, scanRSSI);
+			//prob *= Distribution::Region<double>::getProbability(modelRSSI, sigma, scanRSSI);
+
+            ++numMatchingBeacons;
+
+		}
+
+		// sanity check
+        Assert::isTrue(numMatchingBeacons > 0, "not a single measured Beacon was matched against known ones. coding error? model error?");
+
+		return prob;
+
+	}
+
+};
+
+#endif // WIFIPROBABILITYFREE_H