#ifndef EVAL_H
#define EVAL_H

#include "EvalBase.h"
#include "../DijkstraMapper.h"
#include <Indoor/grid/walk/GridWalkRandomHeadingUpdate.h>
#include <Indoor/grid/walk/GridWalkRandomHeadingUpdateAdv.h>
#include <Indoor/grid/walk/GridWalkPushForward.h>
#include <Indoor/grid/walk/GridWalkLightAtTheEndOfTheTunnel.h>
#include <KLib/math/filter/particles/resampling/ParticleFilterResamplingSimple.h>
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationWeightedAverage.h>
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationRegionalWeightedAverage.h>
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationOrderedWeightedAverage.h>

class Eval : public EvalBase {

public:



	Eval() {


		pf = new K::ParticleFilter<MyState, MyControl, MyObservation>( MiscSettings::numParticles, std::unique_ptr<MyInitializer>(new MyInitializer(grid, 1120, 150, 3*350, 90)) );

		MyGridNode& start = (MyGridNode&)grid.getNodeFor(GridPoint(500,300,floors.h0.cm()));
		MyGridNode& end = (MyGridNode&)grid.getNodeFor(GridPoint(7000,5000,floors.h3.cm()));

		//GridWalkLightAtTheEndOfTheTunnel<MyGridNode>* walk = new GridWalkLightAtTheEndOfTheTunnel<MyGridNode>(grid, DijkstraMapper(grid), end);
		//GridWalkRandomHeadingUpdate<MyGridNode>* walk = new GridWalkRandomHeadingUpdate<MyGridNode>();
		GridWalkRandomHeadingUpdateAdv<MyGridNode>* walk = new GridWalkRandomHeadingUpdateAdv<MyGridNode>();
		//GridWalkPushForward<MyGridNode>* walk = new GridWalkPushForward<MyGridNode>();

		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );

		sr = new SensorReader("./measurements/13/Galaxy/Path2/1433588396094.csv");
		srt = new SensorReaderTurn("./measurements/13/Galaxy/Path2/Turns.txt");
		srs = new SensorReaderStep("./measurements/13/Galaxy/Path2/Steps2.txt");

		gtw = getGroundTruthWay(*sr, floors.gtwp, way2);

	}



	void setEval1() {


		runName = "TODO";

		// the particle filter's evaluation method
		std::unique_ptr<MyEvaluation> eval = std::unique_ptr<MyEvaluation>( new MyEvaluation() );
		eval.get()->setUsage(true, false, false, true, true);
		pf->setEvaluation( std::move(eval) );

		// resampling step?
		pf->setNEffThreshold(1.0);
		pf->setResampling( std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>>(new K::ParticleFilterResamplingSimple<MyState>()) );

		// state estimation step
		pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
		//pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationRegionalWeightedAverage<MyState>>(new K::ParticleFilterEstimationRegionalWeightedAverage<MyState>()));

	}



};

#endif // EVAL_H