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/State.h

@@ -0,0 +1,77 @@
+#ifndef STATE_H
+#define STATE_H
+
+#include <Indoor/grid/walk/v2/GridWalker.h>
+#include <Indoor/grid/walk/v2/modules/WalkModuleButterActivity.h>
+#include <Indoor/grid/walk/v2/modules/WalkModuleHeadingControl.h>
+#include <Indoor/grid/walk/v2/modules/WalkModuleNodeImportance.h>
+#include <Indoor/grid/walk/v2/modules/WalkModuleFavorZ.h>
+
+#include <Indoor/sensors/radio/WiFiMeasurements.h>
+#include <Indoor/sensors/gps/GPSData.h>
+
+struct MyState : public WalkState, public WalkStateFavorZ, public WalkStateHeading, public WalkStateBarometerActivity {
+
+
+	/** ctor */
+	MyState(const int x_cm, const int y_cm, const int z_cm) : WalkState(GridPoint(x_cm, y_cm, z_cm)), WalkStateHeading(Heading(0), 0) {
+		;
+	}
+
+	MyState() : WalkState(GridPoint()), WalkStateHeading(Heading(0), 0) {
+		;
+	}
+
+	MyState& operator += (const MyState& o) {
+		position += o.position;
+		return *this;
+	}
+
+	MyState& operator /= (const float val) {
+		position /= val;
+		return *this;
+	}
+
+	MyState operator * (const float val) const {
+		MyState copy = *this;
+		copy.position = copy.position * val;
+		return copy;
+	}
+
+
+
+
+};
+
+/** observed sensor data */
+struct MyObservation {
+
+	/** wifi measurements */
+	WiFiMeasurements wifi;
+
+	/** gps measurements */
+	GPSData gps;
+
+	/** time of evaluation */
+	Timestamp currentTime;
+
+};
+
+/** (observed) control data */
+struct MyControl {
+
+	/** turn angle (in radians) since the last transition */
+	float turnSinceLastTransition_rad = 0;
+
+	/** number of steps since the last transition */
+	int numStepsSinceLastTransition = 0;
+
+	/** reset the control-data after each transition */
+	void resetAfterTransition() {
+		turnSinceLastTransition_rad = 0;
+		numStepsSinceLastTransition = 0;
+	}
+
+};
+
+#endif // STATE_H