refactoring to add nav mesh

2018-07-11 19:04:42 +02:00
parent bb974d3871
commit b4a1a3d969
27 changed files with 1581 additions and 712 deletions
--- a/nav/mesh/FilterMesh.h
+++ b/nav/mesh/FilterMesh.h
@@ -0,0 +1,220 @@
+#ifndef FILTERMESH_
+#define FILTERMESH_
+
+#include <KLib/math/filter/particles/ParticleFilter.h>
+
+#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationWeightedAverage.h>
+#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationOrderedWeightedAverage.h>
+
+#include <KLib/math/filter/particles/resampling/ParticleFilterResamplingSimple.h>
+#include <KLib/math/filter/particles/resampling/ParticleFilterResamplingPercent.h>
+
+#include <Indoor/sensors/radio/WiFiProbabilityFree.h>
+#include <Indoor/sensors/radio/model/WiFiModelLogDistCeiling.h>
+#include <Indoor/sensors/radio/WiFiProbabilityFree.h>
+#include <Indoor/sensors/radio/WiFiProbabilityGrid.h>
+
+#include <Indoor/navMesh/NavMesh.h>
+#include <Indoor/navMesh/walk/NavMeshWalkSimple.h>
+
+#include "State.h"
+#include "../../Settings.h"
+
+#include <omp.h>
+#include <future>
+
+namespace MeshBased {
+
+	class PFInit : public K::ParticleFilterInitializer<MyState> {
+
+	private:
+
+		NM::NavMesh<NM::NavMeshTriangle>* mesh;
+
+	public:
+
+		PFInit(NM::NavMesh<NM::NavMeshTriangle>* mesh) : mesh(mesh) {
+
+		}
+
+		virtual void initialize(std::vector<K::Particle<MyState>>& particles) override {
+
+			std::minstd_rand gen;
+			std::uniform_real_distribution<float> distHead(0, 2*M_PI);
+
+			NM::NavMeshRandom<NM::NavMeshTriangle> rnd = mesh->getRandom();
+
+			for (K::Particle<MyState>& p : particles) {
+				p.state.loc = rnd.draw();
+				p.state.heading = Heading(distHead(gen));		// random heading
+				p.weight = 1.0 / particles.size();				// equal weight
+			}
+
+	//		// fix position + heading
+	//		for (K::Particle<MyState>& p : particles) {
+	////			const int idx = 9000;
+	////			const MyGridNode& node = (*grid)[idx];
+	//			const MyGridNode& node = grid->getNodeFor(GridPoint(2000, 2000, 0));		// center of the testmap
+	//			p.state.position = node;
+	//			p.state.heading.direction = Heading(0);
+	//		}
+
+		}
+
+	};
+
+	/*
+	class PFTrans : public K::ParticleFilterTransition<MyState, MyControl> {
+
+	public:
+
+		// local, static control-data COPY
+		MyControl ctrl;
+
+		Grid<MyGridNode>* grid;
+		GridWalker<MyGridNode, MyState> walker;
+
+		WalkModuleFavorZ<MyGridNode, MyState> modFavorZ;
+		WalkModuleHeadingControl<MyGridNode, MyState, MyControl> modHeading;
+		WalkModuleNodeImportance<MyGridNode, MyState> modImportance;
+		WalkModuleFollowDestination<MyGridNode, MyState> modDestination;
+		WalkModuleActivityControl<MyGridNode, MyState, MyControl> modActivity;
+
+		NodeResampling<MyState, MyGridNode> resampler;
+
+		std::minstd_rand gen;
+
+	public:
+
+		PFTrans(Grid<MyGridNode>* grid) : grid(grid), modHeading(&ctrl, Settings::IMU::turnSigma), modDestination(*grid), modActivity(&ctrl), resampler(*grid) {
+
+			//walker.addModule(&modFavorZ);
+			walker.addModule(&modHeading);
+			//walker.addModule(&modImportance);
+			walker.addModule(&modActivity);
+
+
+			if (Settings::destination != GridPoint(0,0,0)) {
+				//walker.addModule(&modDestination);
+				modDestination.setDestination(grid->getNodeFor(Settings::destination));
+			}
+
+		}
+
+
+
+		void transition(std::vector<K::Particle<MyState>>& particles, const MyControl* _ctrl) override {
+
+			// local copy!! observation might be changed async outside!! (will really produces crashes!)
+			this->ctrl = *_ctrl;
+			((MyControl*)_ctrl)->resetAfterTransition();
+
+			std::normal_distribution<float> noise(0, Settings::IMU::stepSigma);
+
+			// sanity check
+			Assert::equal((int)particles.size(), Settings::numParticles, "number of particles does not match the settings!");
+
+			//for (K::Particle<MyState>& p : particles) {
+			#pragma omp parallel for num_threads(3)
+			for (int i = 0; i < Settings::numParticles; ++i) {
+
+				//#pragma omp atomic
+				const float dist_m = std::abs(ctrl.numStepsSinceLastTransition * Settings::IMU::stepLength + noise(gen));
+
+				K::Particle<MyState>& p = particles[i];
+
+				double prob;
+				p.state = walker.getDestination(*grid, p.state, dist_m, prob);
+				//p.weight *= prob;//(prob > 0.01) ? (1.0) : (0.15);
+				//p.weight = (prob > 0.01) ? (1.0) : (0.15);
+				//p.weight = prob;
+				//p.weight = 1.0;							// reset
+				//p.weight = std::pow(p.weight, 0.1);		// make all particles a little more equal [less strict]
+				//p.weight *= std::pow(prob, 0.1);		// add grid-walk-probability
+				p.weight = prob;							// grid-walk-probability
+				if (p.weight != p.weight) {throw Exception("nan");}
+
+			}
+
+		}
+
+	};
+
+	class PFEval : public K::ParticleFilterEvaluation<MyState, MyObservation> {
+
+		Grid<MyGridNode>* grid;
+
+		WiFiModelLogDistCeiling& wifiModel;
+
+
+		//WiFiObserverFree wiFiProbability;					// free-calculation
+		WiFiObserverGrid<MyGridNode> wiFiProbability;		// grid-calculation
+
+		// smartphone is 1.3 meter above ground
+		const Point3 person = Point3(0,0,Settings::smartphoneAboveGround);
+
+	public:
+
+		PFEval(Grid<MyGridNode>* grid, WiFiModelLogDistCeiling& wifiModel) :
+			grid(grid), wifiModel(wifiModel),
+			//wiFiProbability(Settings::WiFiModel::sigma, wifiModel) {		// WiFi free
+			wiFiProbability(Settings::WiFiModel::sigma) {					// WiFi grid
+
+
+		}
+
+		double evaluation(std::vector<K::Particle<MyState>>& particles, const MyObservation& _observation) override {
+
+			double sum = 0;
+
+			// local copy!! observation might be changed async outside!! (will really produces crashes!)
+			const MyObservation observation = _observation;
+
+			// vap-grouping
+			const int numAP1 = observation.wifi.entries.size();
+			const WiFiMeasurements wifiObs = Settings::WiFiModel::vg_eval.group(_observation.wifi);
+			const int numAP2 = wifiObs.entries.size();
+
+			Log::add("Filter", "VAP: " + std::to_string(numAP1) + " -> " + std::to_string(numAP2));
+
+			// sanity check
+			Assert::equal((int)particles.size(), Settings::numParticles, "number of particles does not match the settings!");
+
+			#pragma omp parallel for num_threads(3)
+			for (int i = 0; i < Settings::numParticles; ++i) {
+
+				K::Particle<MyState>& p = particles[i];
+
+				// WiFi free
+				//const double pWiFi = wiFiProbability.getProbability(p.state.position.inMeter()+person, observation.currentTime, vg.group(observation.wifi));
+
+				// WiFi grid
+				const MyGridNode& node = grid->getNodeFor(p.state.position);
+				const double pWiFi = wiFiProbability.getProbability(node, observation.currentTime, wifiObs);
+
+
+				//Log::add("xxx", std::to_string(observation.currentTime.ms()) + "_" + std::to_string(wifiObs.entries[0].ts.ms()));
+
+				const double pStair = getStairProb(p, observation.activity);
+				const double pGPS = 1;
+				const double prob = pWiFi * pGPS * pStair;
+
+				p.weight *= prob;		// NOTE: keeps the weight returned by the transition step!
+				//p.weight = prob;		// does NOT keep the weights returned by the transition step
+				if (p.weight != p.weight) {throw Exception("nan");}
+
+				#pragma omp atomic
+				sum += p.weight;
+
+			}
+
+			return sum;
+
+		}
+
+	};
+
+	*/
+}
+
+#endif // FILTERMESH_
--- a/nav/mesh/NavControllerMesh.cpp
+++ b/nav/mesh/NavControllerMesh.cpp
@@ -0,0 +1,290 @@
+#include "NavControllerMesh.h"
+
+#include "../ui/debug/SensorDataWidget.h"
+#include "../ui/map/3D/MapView3D.h"
+#include "../ui/map/2D/MapView2D.h"
+#include "../ui/debug/InfoWidget.h"
+
+#include <Indoor/Assertions.h>
+#include <thread>
+
+#include "State.h"
+#include "FilterMesh.h"
+#include "Controller.h"
+#include "../NavControllerListener.h"
+
+#include <KLib/misc/gnuplot/Gnuplot.h>
+#include <KLib/misc/gnuplot/GnuplotSplot.h>
+#include <KLib/misc/gnuplot/GnuplotSplotElementPoints.h>
+#include <KLib/misc/gnuplot/GnuplotSplotElementLines.h>
+
+#include <Indoor/navMesh/NavMesh.h>
+#include <Indoor/navMesh/NavMeshTriangle.h>
+#include <Indoor/floorplan/v2/Floorplan.h>
+
+//#ifndef ANDROID
+//#include <valgrind/callgrind.h>
+//#endif
+
+#include "Settings.h"
+
+Q_DECLARE_METATYPE(const void*)
+
+/** ctor */
+MeshBased::NavControllerMesh::NavControllerMesh(Controller* mainController, Floorplan::IndoorMap* im, NM::NavMesh<NM::NavMeshTriangle>* navMesh) :
+	NavController(mainController, im), navMesh(navMesh), wifiModel(im) {
+
+	// filter init
+	std::unique_ptr<K::ParticleFilterInitializer<MyState>> init(new MeshBased::PFInit(navMesh));
+
+//		// estimation
+//		//std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>> estimation(new K::ParticleFilterEstimationWeightedAverage<MyState>());
+//		std::unique_ptr<K::ParticleFilterEstimationOrderedWeightedAverage<MyState>> estimation(new K::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.5));
+
+//		// resampling
+//		std::unique_ptr<NodeResampling<MyState, MyGridNode>> resample(new NodeResampling<MyState, MyGridNode>(*grid));
+//		//std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>> resample(new K::ParticleFilterResamplingSimple<MyState>());
+//		//std::unique_ptr<K::ParticleFilterResamplingPercent<MyState>> resample(new K::ParticleFilterResamplingPercent<MyState>(0.05));
+//		//std::unique_ptr<RegionalResampling> resample(new RegionalResampling());
+
+//		// eval and transition
+//		wifiModel.loadAPs(im, Settings::WiFiModel::TXP, Settings::WiFiModel::EXP, Settings::WiFiModel::WAF);
+//		std::unique_ptr<K::ParticleFilterEvaluation<MyState, MyObservation>> eval(new PFEval(grid, wifiModel));
+//		std::unique_ptr<K::ParticleFilterTransition<MyState, MyControl>> transition(new PFTrans(grid));
+
+//		// setup the filter
+//		pf = std::unique_ptr<K::ParticleFilter<MyState, MyControl, MyObservation>>(new K::ParticleFilter<MyState, MyControl, MyObservation>(Settings::numParticles, std::move(init)));
+//		pf->setTransition(std::move(transition));
+//		pf->setEvaluation(std::move(eval));
+//		pf->setEstimation(std::move(estimation));
+//		pf->setResampling(std::move(resample));
+
+//		pf->setNEffThreshold(0.85);         //before 0.75, edit by toni
+//		//pf->setNEffThreshold(0.65);		// still too low?
+//		//pf->setNEffThreshold(0.25);		// too low
+
+	// attach as listener to all sensors
+	SensorFactory::get().getAccelerometer().addListener(this);
+	SensorFactory::get().getGyroscope().addListener(this);
+	SensorFactory::get().getBarometer().addListener(this);
+	SensorFactory::get().getWiFi().addListener(this);
+	SensorFactory::get().getSteps().addListener(this);
+	SensorFactory::get().getTurns().addListener(this);
+	//SensorFactory::get().getActivity().addListener(this);
+
+	// hacky.. but we need to call this one from the main thread!
+	//mainController->getMapView()->showParticles(pf->getParticles());
+	qRegisterMetaType<const void*>();
+
+}
+
+
+void MeshBased::NavControllerMesh::start() {
+
+	Assert::isFalse(running, "already started!");
+	running = true;
+	curCtrl.resetAfterTransition();	// ensure we start empty ;)
+	tFilter = std::thread(&NavControllerMesh::filterUpdateLoop, this);
+	tDisplay = std::thread(&NavControllerMesh::updateMapViewLoop, this);
+
+	// start all sensors
+	SensorFactory::get().getAccelerometer().start();
+	SensorFactory::get().getGyroscope().start();
+	SensorFactory::get().getBarometer().start();
+	SensorFactory::get().getWiFi().start();
+
+//#ifndef ANDROID
+//		// #include <valgrind/callgrind.h>
+//		// run with
+//		// valgrind --tool=callgrind --quiet  --instr-atstart=no  ./yasmin
+//		// show with
+//		// kcachegrind callgrind.out.xxxx
+//		CALLGRIND_START_INSTRUMENTATION;
+//#endif
+
+}
+
+void MeshBased::NavControllerMesh::stop() {
+	Assert::isTrue(running, "not started!");
+	running = false;
+	tFilter.join();
+	tDisplay.join();
+}
+
+
+void MeshBased::NavControllerMesh::onSensorData(Sensor<AccelerometerData>* sensor, const Timestamp ts, const AccelerometerData& data) {
+	(void) sensor;
+	(void) data;
+	(void) ts;
+	gotSensorData(ts);
+}
+
+void MeshBased::NavControllerMesh::onSensorData(Sensor<GyroscopeData>* sensor, const Timestamp ts, const GyroscopeData& data) {
+	(void) sensor;
+	(void) ts;
+	(void) data;
+	gotSensorData(ts);
+}
+
+void MeshBased::NavControllerMesh::onSensorData(Sensor<BarometerData>* sensor, const Timestamp ts, const BarometerData& data) {
+	(void) sensor;
+	(void) ts;
+	(void) data;
+	gotSensorData(ts);
+}
+
+void MeshBased::NavControllerMesh::onSensorData(Sensor<WiFiMeasurements>* sensor, const Timestamp ts, const WiFiMeasurements& data) {
+	(void) sensor;
+	(void) ts;
+	curObs.wifi = data;
+	gotSensorData(ts);
+}
+
+void MeshBased::NavControllerMesh::onSensorData(Sensor<GPSData>* sensor, const Timestamp ts, const GPSData& data) {
+	(void) sensor;
+	(void) ts;
+	curObs.gps = data;
+	gotSensorData(ts);
+}
+
+void MeshBased::NavControllerMesh::onSensorData(Sensor<StepData>* sensor, const Timestamp ts, const StepData& data) {
+	(void) sensor;
+	(void) ts;
+	curCtrl.numStepsSinceLastTransition += data.stepsSinceLastEvent;		// set to zero after each transition
+	gotSensorData(ts);
+}
+
+void MeshBased::NavControllerMesh::onSensorData(Sensor<TurnData>* sensor, const Timestamp ts, const TurnData& data) {
+	(void) sensor;
+	(void) ts;
+	curCtrl.turnSinceLastTransition_rad += data.radSinceLastEvent;			// set to zero after each transition
+	gotSensorData(ts);
+}
+
+//	void NavControllerMesh::onSensorData(Sensor<ActivityData>* sensor, const Timestamp ts, const ActivityData& data) {
+//		(void) sensor;
+//		(void) ts;
+//		curCtrl.activity = data.curActivity;
+//		curObs.activity = data.curActivity;
+//		debugActivity(data.curActivity);
+//		gotSensorData(ts);
+//	}
+
+/** called when any sensor has received new data */
+void MeshBased::NavControllerMesh::gotSensorData(const Timestamp ts) {
+	curObs.currentTime = ts;
+	if (Settings::Filter::useMainThread) {filterUpdateIfNeeded();}
+}
+
+//	void debugActivity(const ActivityData& activity)  {
+//		QString act;
+//		switch(activity.curActivity) {
+//			case ActivityButterPressure::Activity::STAY:	act = "STAY"; break;
+//			case ActivityButterPressure::Activity::DOWN:	act = "DOWN"; break;
+//			case ActivityButterPressure::Activity::UP:		act = "UP"; break;
+//			default:										act = "???"; break;
+//		}
+//		Assert::isTrue(QMetaObject::invokeMethod(mainController->getInfoWidget(), "showActivity", Qt::QueuedConnection, Q_ARG(const QString&, act)), "call failed");
+//	}
+
+	/** particle-filter update loop */
+	void MeshBased::NavControllerMesh::filterUpdateLoop() {
+
+
+		while(running && !Settings::Filter::useMainThread) {
+
+//			// fixed update rate based on the systems time -> LIVE! even for offline data
+//			const Timestamp ts1 = Timestamp::fromUnixTime();
+//			doUpdate();
+//			const Timestamp ts2 = Timestamp::fromUnixTime();
+//			const Timestamp needed = ts2-ts1;
+//			const Timestamp sleep = Timestamp::fromMS(500) - needed;
+//			std::this_thread::sleep_for(std::chrono::milliseconds(sleep.ms()));
+
+			const bool wasUpdated = filterUpdateIfNeeded();
+			if (!wasUpdated) { std::this_thread::sleep_for(std::chrono::milliseconds(2)); }
+
+		}
+	}
+
+	Timestamp lastTransition;
+
+	/** check whether its time for a filter update, and if so, execute the update and return true */
+	bool MeshBased::NavControllerMesh::filterUpdateIfNeeded() {
+
+		static float avgSum = 0;
+		static int avgCount = 0;
+
+		// fixed update rate based on incoming sensor data
+		// allows working with live data and faster for offline data
+		const Timestamp diff = curObs.currentTime - lastTransition;
+		if (diff >= Settings::Filter::updateEvery) {
+
+			// as the difference is slightly above the 500ms, calculate the error and incorporate it into the next one
+			const Timestamp err = diff - Settings::Filter::updateEvery;
+			lastTransition = curObs.currentTime - err;
+
+			const Timestamp ts1 = Timestamp::fromUnixTime();
+			filterUpdate();
+			const Timestamp ts2 = Timestamp::fromUnixTime();
+			const Timestamp tsDiff = ts2-ts1;
+			const QString filterTime = QString::number(tsDiff.ms());
+			avgSum += tsDiff.ms(); ++avgCount;
+			//Log::add("xxx", "ts:" + std::to_string(curObs.currentTime.ms()) + " avg:" + std::to_string(avgSum/avgCount));
+			QMetaObject::invokeMethod(mainController->getInfoWidget(), "showFilterTime", Qt::QueuedConnection, Q_ARG(const QString&, filterTime));
+			return true;
+
+		} else {
+
+			return false;
+
+		}
+
+	}
+
+	DijkstraPath<MyGridNode> pathToDest;
+
+	/** perform a filter-update (called from a background-loop) */
+	void MeshBased::NavControllerMesh::filterUpdate() {
+
+//		//lastEst = curEst;
+//		curEst = pf->update(&curCtrl, curObs);
+//		//Log::add("Nav", "cur est: " + curEst.position.asString());
+
+//		// inform listeners about the new estimation
+//		for (NavControllerListener* l : listeners) {l->onNewEstimation(curEst.position.inMeter());}
+
+//		Assert::isTrue(QMetaObject::invokeMethod(mainController->getMapView3D(), "showParticles", Qt::QueuedConnection, Q_ARG(const void*, &pf->getParticles())), "call failed");
+//		Assert::isTrue(QMetaObject::invokeMethod(mainController->getMapView2D(), "showParticles", Qt::QueuedConnection, Q_ARG(const void*, &pf->getParticles())), "call failed");
+
+//		// update estimated path
+//		estPath.push_back(curEst.position.inMeter());
+//		Assert::isTrue(QMetaObject::invokeMethod(mainController->getMapView3D(), "setPathWalked", Qt::QueuedConnection, Q_ARG(const void*, &estPath)), "call failed");
+//		Assert::isTrue(QMetaObject::invokeMethod(mainController->getMapView2D(), "setPathWalked", Qt::QueuedConnection, Q_ARG(const void*, &estPath)), "call failed");
+
+//		PFTrans* trans = (PFTrans*)pf->getTransition();
+//		const MyGridNode* node = grid->getNodePtrFor(curEst.position);
+//		if (node) {
+//			try {
+//				pathToDest = trans->modDestination.getShortestPath(*node);
+//				Assert::isTrue(QMetaObject::invokeMethod(mainController->getMapView3D(), "setPathToDestination", Qt::QueuedConnection, Q_ARG(const void*, &pathToDest)), "call failed");
+//				Assert::isTrue(QMetaObject::invokeMethod(mainController->getMapView2D(), "setPathToDestination", Qt::QueuedConnection, Q_ARG(const void*, &pathToDest)), "call failed");
+//			} catch (...) {;}
+//		}
+//		//	mainController->getMapView()->showGridImportance();
+
+	}
+
+	/** UI update loop */
+	void MeshBased::NavControllerMesh::updateMapViewLoop() {
+
+		while(running) {
+			const Timestamp ts1 = Timestamp::fromUnixTime();
+			updateMapView();
+			const Timestamp ts2 = Timestamp::fromUnixTime();
+			const Timestamp tsDiff = ts2-ts1;
+			const QString mapViewTime = QString::number(tsDiff.ms());
+			//QMetaObject::invokeMethod(mainController->getInfoWidget(), "showMapViewTime", Qt::QueuedConnection, Q_ARG(const QString&, mapViewTime));
+			std::this_thread::sleep_for(std::chrono::milliseconds(display_ms));
+		}
+	}
--- a/nav/mesh/NavControllerMesh.h
+++ b/nav/mesh/NavControllerMesh.h
@@ -0,0 +1,88 @@
+#ifndef NAVCONTROLLERMESH_H
+#define NAVCONTROLLERMESH_H
+
+#include "../sensors/AccelerometerSensor.h"
+#include "../sensors/GyroscopeSensor.h"
+#include "../sensors/BarometerSensor.h"
+#include "../sensors/WiFiSensor.h"
+#include "../sensors/SensorFactory.h"
+#include "../sensors/StepSensor.h"
+#include "../sensors/TurnSensor.h"
+
+#include <Indoor/navMesh/NavMeshLocation.h>
+#include <Indoor/navMesh/NavMesh.h>
+
+#include <Indoor/Assertions.h>
+#include <thread>
+
+//#include "State.h"
+#include "FilterMesh.h"
+
+#include "../Controller.h"
+#include "../NavController.h"
+
+namespace MeshBased {
+
+	class NavControllerMesh : public NavController {
+
+	private:
+
+		NM::NavMesh<NM::NavMeshTriangle>* navMesh;
+		WiFiModelLogDistCeiling wifiModel;
+
+		std::unique_ptr<K::ParticleFilter<MyState, MyControl, MyObservation>> pf;
+
+		MyObservation curObs;
+		MyControl curCtrl;
+
+	public:
+
+		NavControllerMesh(Controller* mainController, Floorplan::IndoorMap* im, NM::NavMesh<NM::NavMeshTriangle>* navMesh);
+
+
+		void start() override;
+
+		void stop() override;
+
+
+		void onSensorData(Sensor<AccelerometerData>* sensor, const Timestamp ts, const AccelerometerData& data) override;
+
+		void onSensorData(Sensor<GyroscopeData>* sensor, const Timestamp ts, const GyroscopeData& data) override;
+
+		void onSensorData(Sensor<BarometerData>* sensor, const Timestamp ts, const BarometerData& data) override;
+
+		void onSensorData(Sensor<WiFiMeasurements>* sensor, const Timestamp ts, const WiFiMeasurements& data) override;
+
+		void onSensorData(Sensor<GPSData>* sensor, const Timestamp ts, const GPSData& data) override;
+
+		void onSensorData(Sensor<StepData>* sensor, const Timestamp ts, const StepData& data) override;
+
+		void onSensorData(Sensor<TurnData>* sensor, const Timestamp ts, const TurnData& data) override;
+
+	//	void onSensorData(Sensor<ActivityData>* sensor, const Timestamp ts, const ActivityData& data) override ;
+
+
+	private:
+
+		/** called when any sensor has received new data */
+		void gotSensorData(const Timestamp ts);
+
+	//	void debugActivity(const ActivityData& activity);
+
+		/** particle-filter update loop */
+		void filterUpdateLoop();
+
+		/** check whether its time for a filter update, and if so, execute the update and return true */
+		bool filterUpdateIfNeeded();
+
+		/** perform a filter-update (called from a background-loop) */
+		void filterUpdate();
+
+		/** UI update loop */
+		void updateMapViewLoop();
+
+	};
+
+}
+
+#endif // NAVCONTROLLERMESH_H
--- a/nav/mesh/State.h
+++ b/nav/mesh/State.h
@@ -0,0 +1,45 @@
+#ifndef MESH_STATE_H
+#define MESH_STATE_H
+
+#include <Indoor/navMesh/NavMesh.h>
+#include <Indoor/navMesh/NavMeshTriangle.h>
+#include <Indoor/geo/Heading.h>
+
+namespace MeshBased {
+
+	struct MyState {
+
+		NM::NavMeshLocation<NM::NavMeshTriangle> loc;
+		Heading heading;
+
+		/** ctor */
+		MyState() : loc(), heading(0) {
+			;
+		}
+
+		/** ctor */
+		MyState(NM::NavMeshLocation<NM::NavMeshTriangle> loc, Heading h) : loc(loc), heading(h) {
+			;
+		}
+
+//		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;
+//		}
+
+	};
+
+}
+
+#endif // MESH_STATE_H