a lot!!! of changes

added main menu
added debug display
many debug widgets for plotting live data
worked on android live sensors
added offline-data sensor feeding
some dummy data sensors
worked on the map display
added ui debug for grid-points, particles and weights
added a cool dude to display the estimation
added real filtering based on the Indoor components
c++11 fixes for android compilation
online and offline filtering support
new resampling technique for testing
map loading via dialog

nav/RegionalResampling.h

@@ -0,0 +1,68 @@
+#ifndef REGIONALRESAMPLING_H
+#define REGIONALRESAMPLING_H
+
+#include <KLib/math/filter/particles/ParticleFilter.h>
+#include "State.h"
+
+class RegionalResampling : public K::ParticleFilterResampling<MyState> {
+
+public:
+
+	float maxDist = 12.5;
+
+	RegionalResampling() {;}
+
+	void resample(std::vector<K::Particle<MyState>>& particles) override {
+
+		Point3 sum;
+		for (const K::Particle<MyState>& p : particles) {
+			sum += p.state.position.inMeter();
+		}
+		const Point3 avg = sum / particles.size();
+
+		std::vector<K::Particle<MyState>> next;
+		for (const K::Particle<MyState>& p : particles) {
+			const float dist = p.state.position.inMeter().getDistance(avg);
+			if (rand() % 6 != 0) {continue;}
+			if (dist < maxDist) {next.push_back(p);}
+		}
+
+		// cumulate
+		std::vector<K::Particle<MyState>> copy = particles;
+		double cumWeight = 0;
+		for ( K::Particle<MyState>& p : copy) {
+			cumWeight += p.weight;
+			p.weight = cumWeight;
+		}
+
+		// draw missing particles
+		const int missing = particles.size() - next.size();
+		for (int i = 0; i < missing; ++i) {
+			next.push_back(draw(copy, cumWeight));
+		}
+
+		std::swap(next, particles);
+
+	}
+
+	std::minstd_rand gen;
+
+	/** draw one particle according to its weight from the copy vector */
+	const K::Particle<MyState>& draw(std::vector<K::Particle<MyState>>& copy, const double cumWeight) {
+
+		// generate random values between [0:cumWeight]
+		std::uniform_real_distribution<float> dist(0, cumWeight);
+
+		// draw a random value between [0:cumWeight]
+		const float rand = dist(gen);
+
+		// search comparator (cumWeight is ordered -> use binary search)
+		auto comp = [] (const K::Particle<MyState>& s, const float d) {return s.weight < d;};
+		auto it = std::lower_bound(copy.begin(), copy.end(), rand, comp);
+		return *it;
+
+	}
+
+};
+
+#endif // REGIONALRESAMPLING_H