#ifndef STEPEVALUATION_H
#define STEPEVALUATION_H



#include "../particles/MyState.h"
#include "StepObservation.h"
#include <math.h>

static double mu_walk = 40;
static double sigma_walk = 15;
static double mu_stop = 0;
static double sigma_stop = 5;

class StepEvaluation {

public:

    double getProbability(const MyState& state, const StepObservation* obs) const {

        double distance = state.distanceWalkedCM;

        double a = 1.0;
	   double mu_distance = 0; //cm
		double sigma_distance = 10.0; //cm

        if(obs->step) {
            a = 1.0;
			mu_distance = mu_walk;//80.0; //cm
			sigma_distance = sigma_walk;//40.0; //cm
        }

        else {
            a = 0.0;
			mu_distance = mu_stop; //cm
			sigma_distance = sigma_stop; //cm
        }

        //Mixed Gaussian model: 1st Gaussian = step, 2nd Gaussian = no step
        const double p = a * K::NormalDistribution::getProbability(mu_distance, sigma_distance, distance) +
                        (1.0-a) * K::NormalDistribution::getProbability(mu_distance, sigma_distance, distance);

        return p;
    }

};



#endif // STEPEVALUATION_H