#ifndef SETTINGS_H
#define SETTINGS_H

#include <Indoor/grid/GridPoint.h>
#include <Indoor/data/Timestamp.h>
#include <Indoor/sensors/radio/VAPGrouper.h>

#include <eigen3/Eigen/Dense>

namespace Settings {

    bool useKLB = true;

    const int numParticles = 5000;

    namespace Mode1 {
        const double modeProbability = 0.99;
    }

    namespace Mode2 {
        const double modeProbability = 0.01;
    }

    namespace Mixing {
        //Eigen::Matrix2d transitionProbabilityMatrix(1,0,0,1);
        const double lambda = 0.03;
    }

	namespace IMU {
        const float turnSigma = 2.5;		// 3.5
        const float stepLength = 1.00;
        const float stepSigma = 0.15; //toni changed
	}

	const float smartphoneAboveGround = 1.3;

	const float offlineSensorSpeedup = 2;

	namespace Grid {
		constexpr int gridSize_cm = 20;
	}


	//const GridPoint destination = GridPoint(70*100, 35*100, 0*100);		// use destination
	const GridPoint destination = GridPoint(0,0,0);							// do not use destination

	namespace SensorDebug {
		const Timestamp updateEvery = Timestamp::fromMS(200);
	}

    namespace WiFiModel {
        constexpr float sigma = 8.0;
		/** if the wifi-signal-strengths are stored on the grid-nodes, this needs a grid rebuild! */
        constexpr float TXP = -46;
        constexpr float EXP = 2.7;
		constexpr float WAF = -5.0;

        // how to perform VAP grouping. see
        // - calibration in Controller.cpp
        // - eval in Filter.h
        // NOTE: maybe the UAH does not allow valid VAP grouping? delete the grid and rebuild without!
        const VAPGrouper vg_calib = VAPGrouper(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::AVERAGE);
        const VAPGrouper vg_eval  = VAPGrouper(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::AVERAGE);
	}

    namespace WiFiModel_{
        constexpr float sigma = 8.0;
        /** if the wifi-signal-strengths are stored on the grid-nodes, this needs a grid rebuild! */
        constexpr float TXP = -64.5905;
        constexpr float EXP = 1.25988;
        constexpr float WAF = -2.47863;

        // how to perform VAP grouping. see
        // - calibration in Controller.cpp
        // - eval in Filter.h
        // NOTE: maybe the UAH does not allow valid VAP grouping? delete the grid and rebuild without!
        const VAPGrouper vg_calib = VAPGrouper(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::AVERAGE);
        const VAPGrouper vg_eval  = VAPGrouper(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::AVERAGE);
    }

    namespace BeaconModel {
        constexpr float sigma = 8.0;
        constexpr float TXP = -71;
        constexpr float EXP = 1.5;
        constexpr float WAF = -20.0; //-5 //20??
    }

	namespace MapView3D {
        const int maxColorPoints = 1000;
		constexpr int fps = 15;
		const Timestamp msPerFrame = Timestamp::fromMS(1000/fps);
	}

	namespace Filter {
		const Timestamp updateEvery = Timestamp::fromMS(500);
		constexpr bool useMainThread = false;						// perform filtering in the main thread
	}

    namespace Paths_IPIN2015 {
        // doing ground truth stuff for ipin 2015
        const std::vector<int> path_0 = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 2, 1, 0};
        const std::vector<int> path_1 = {29, 28, 27, 26, 25, 24, 23, 22, 21, 20, 13, 14, 15, 16, 17, 18, 19, 2, 1, 0};
        const std::vector<int> path_2 = {29, 28, 27, 10, 9, 8, 7, 6, 5, 4, 3, 2, 1, 0, 1, 2, 19, 18, 17, 16, 15, 14, 13, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29};
    }

    namespace Paths_Bergwerk {
        // ipin 2016 (bergwerk)
        const std::vector<int> path1dbl = {29, 29, 28,27,26,255,25,24,23,22,21,20};
        const std::vector<int> path2dbl = {19, 19, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8, 23, 7, 6};
        const std::vector<int> path3dbl = {5, 5, 27, 26, 255, 25, 4, 3, 2, 215, 1, 0, 30, 31};
        const std::vector<int> path4dbl = {29, 29, 28, 27, 32, 33, 34, 35, 36, 10, 9, 8, 22, 37, 38, 39, 40, 41, 42, 43, 44};	// duplicate 1st waypoint!
    }

    namespace Paths_IPIN2017 {
        const std::vector<int> path1 = {0, 1, 2, 3, 4, 5, 6, 700, 7, 9, 10};
        const std::vector<int> path2 = {11, 12, 3, 2, 1, 0, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 11};
        const std::vector<int> path3 = {31, 32, 33, 34, 35, 36, 37, 38};
    }

    namespace PATHS_OTHER2017 {
        const std::vector<int> path1 = {40, 41, 42, 43, 44, 45, 1, 0, 46, 47, 48, 49, 50, 51, 52};
        const std::vector<int> path2 = {53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66};
        const std::vector<int> path3 = {52, 51, 67, 68, 50, 49, 69, 70, 71, 72, 73, 74, 75, 76, 77, 73, 78, 79, 80, 81, 61, 82, 83, 84, 42, 41, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95};
    }

}

#endif // SETTINGS_H