added code from fusion2016

code/lukas/TurnEvaluation.h

@@ -0,0 +1,49 @@
+#ifndef TURNEVALUATION_H
+#define TURNEVALUATION_H
+
+
+#include "../particles/MyState.h"
+#include "TurnObservation.h"
+//#include <boost/math/special_functions/bessel.hpp>
+#include <math.h>
+
+//static constexpr double sigma_heading = 5;
+
+class TurnEvaluation {
+
+    //All calculations use degree not rad!!!
+
+public:
+
+    double getProbability(const MyState& state, const TurnObservation* obs, bool simple = false) const {
+
+		(void) state;
+		(void) obs;
+		(void) simple;
+
+		return 1;
+
+		// see: particle-filter-control-data
+//		// get the current heading-change
+//		const float delta = Angle::radToDeg(state.walkState.headingChange_rad);
+
+//		// and reset it as it was evaluated
+//		((MyState&) state).walkState.headingChange_rad = 0;
+
+//		// proability?
+//		const float sigma = 15.0;
+//		const double prob = K::NormalDistribution::getProbability(obs->delta_heading, sigma, delta);
+
+//		if (prob != prob) {
+//			throw 1;
+//		}
+
+//		return prob;
+
+    }
+
+};
+
+
+
+#endif // TURNEVALUATION_H