refactoring to add nav mesh

nav/Observation.h

@@ -0,0 +1,47 @@
+#ifndef STATE_H
+#define STATE_H
+
+#include <Indoor/sensors/radio/WiFiMeasurements.h>
+#include <Indoor/sensors/gps/GPSData.h>
+#include <Indoor/sensors/activity/Activity.h>
+
+/** observed sensor data */
+struct MyObservation {
+
+	/** wifi measurements */
+	WiFiMeasurements wifi;
+
+	/** gps measurements */
+	GPSData gps;
+
+	// TODO: switch to a general activity enum/detector for barometer + accelerometer + ...?
+	/** detected activity */
+	Activity activity;
+
+	/** 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;
+
+	// TODO: switch to a general activity enum/detector using barometer + accelerometer?
+	/** currently detected activity */
+	Activity activity;
+
+	/** reset the control-data after each transition */
+	void resetAfterTransition() {
+		turnSinceLastTransition_rad = 0;
+		numStepsSinceLastTransition = 0;
+	}
+
+};
+
+#endif // STATE_H