#ifndef INDOOR_GW3_STRUCTS_H
#define INDOOR_GW3_STRUCTS_H

#include "../../../geo/Heading.h"
#include "../../../geo/Point3.h"
#include <vector>
#include "../../../math/Distributions.h"
#include "../../../grid/Grid.h"

namespace GW3 {

	struct StepSizes {

		float stepSizeFloor_m = NAN;
		float stepSizeStair_m = NAN;

		bool isValid() const {
			return (stepSizeFloor_m==stepSizeFloor_m) && (stepSizeStair_m==stepSizeStair_m);
		}

		template <typename Node> float inMeter(const int steps, const Point3 start, const Grid<Node>& grid) const {

			Assert::isTrue(isValid(), "invalid step-sizes given");

			const GridPoint gp = grid.toGridPoint(start);
			const Node& n = grid.getNodeFor(gp);
			if (grid.isPlain(n)) {
				return stepSizeFloor_m * steps;
			} else {
				return stepSizeStair_m * steps;
			}

		}

	};

	/** paremters for the walk */
	struct WalkParams {

		//Distribution::Normal<float> dDistFloor;
		//Distribution::Normal<float> dDistStair;

		Point3 start;
		//float distance_m;
		int numSteps;
		Heading heading = Heading(0);

		float lookFurther_m = 1.5;

		StepSizes stepSizes;

		template <typename Node> float getDistanceInMeter(const Grid<Node>& grid) const {
			return stepSizes.inMeter(numSteps, start, grid);
		}

	};

	/** result of the random walk */
	struct WalkResult {
		Point3 position;
		Heading heading = Heading(0);
		double probability = 1.0;
	};

	/** several nodes */
	template <typename Node> struct Nodes : public std::vector<const Node*> {

	};

	/** one walk along several nodes */
	template <typename Node> struct Walk : public std::vector<const Node*> {

	};

	/** several walks */
	template <typename Node> struct Walks : public std::vector<Walk<Node>> {

	};



}

#endif // INDOOR_GW3_STRUCTS_H