geometry changes/fixes/new features

new grid walkers + fixes
new test-cases
worked on step/and turn detection
android offline-data-reader
worked on vap-grouping

grid/walk/v2/modules/WalkStateHeading.h

@@ -3,12 +3,39 @@
 
 #include "../../../../geo/Heading.h"
 
+/**
+ * base-class e.g. needed for GridWalkHeading and GridWalkHeadingControl to work
+ */
 struct WalkStateHeading {
 
-	Heading startHeading;
+	/** used for better naming: heading.error instead of headingError */
+	struct _Heading {
+
+		/**
+		 * the direction [0:2pi] the walk should move to
+		 * e.g. indiciated by:
+		 *		compass
+		 *		integration over gyroscope values
+		 */
+		Heading direction;
+
+		/**
+		 * (cumulative) error between walked edges and requested direction (above).
+		 * is used to ensure that (even though the grid contains only 45° edges) we
+		 * approximately walk into the requested direction.
+		 */
+		float error = 0;
+
+		/** ctor */
+		_Heading(const Heading direction, const float error) : direction(direction), error(error) {;}
+
+	} heading;
+
+
+
 
 	/** ctor */
-	WalkStateHeading(const Heading& curHeading) : startHeading(curHeading) {;}
+	explicit WalkStateHeading(const Heading& direction, const float error) : heading(direction, error) {;}
 
 };