interface changes

added new data-strcutures for new sensors
new helper methods
fixed some issues

grid/factory/v2/GridFactory.h

@@ -121,7 +121,7 @@ public:
 	};
 
 	/** get the part of outline the given location belongs to. currently: none, indoor, outdoor */
-	PartOfOutline isPartOfFloorOutline(const int x_cm, const int y_cm, const Floorplan::FloorOutline& outline) {
+	static PartOfOutline isPartOfFloorOutline(const int x_cm, const int y_cm, const Floorplan::FloorOutline& outline) {
 
 		// assume the point is not part of the outline
 		PartOfOutline res = PartOfOutline::NO;

grid/walk/v2/GridWalker.h

@@ -111,9 +111,6 @@ public:
 		Assert::isBetween(walkImportance, 0.0f, 2.5f, "grid-node's walk-importance is out of range. Did you forget to calculate the importance values after building the grid?");
 		probability *= walkImportance;// < 0.4f ? (0.1) : (1.0);			// "kill" particles that walk near walls (most probably trapped ones)
 
-
-		//probability = std::pow(probability, 5);
-
 		// sanity check
 		Assert::isNotNaN(probability, "detected NaN grid-walk probability");
 

grid/walk/v2/modules/WalkModuleAbsoluteHeadingControl.h

@@ -74,9 +74,8 @@ public:
 		// get the difference
 		const float angularDiff = head.getDiffHalfRAD(stateHead);
 
-		if (angularDiff > Angle::degToRad(180))	{return 0.05;}
-		if (angularDiff > Angle::degToRad(90))	{return 0.25;}
-												{return 0.70;}
+		if (angularDiff > Angle::degToRad(100))	{return 0.10;}
+												{return 0.90;}
 
 	}
 

grid/walk/v2/modules/WalkModuleActivityControl.h

@@ -100,7 +100,7 @@ public:
 //				if (potentialNode.getType() == GridNode::TYPE_FLOOR)	{return kappa;}
 //																		{return 1-kappa;}
 			default:
-				throw Exception("not yet implemented");
+			    throw Exception("not yet implemented activity within WalkModuleActivityControl::getProbability");
 		}
 
 	}