#ifndef STEPEVALUATION_H
#define STEPEVALUATION_H



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

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

class StepEvaluation {

public:

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

		return 1;

//        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