#ifndef WALKMODULEBUTTERACTIVITY_H
#define WALKMODULEBUTTERACTIVITY_H

#include "WalkModule.h"
#include "WalkStateHeading.h"

#include "../../../../geo/Heading.h"
#include "../../../../math/Distributions.h"
#include "../../../../sensors/pressure/ActivityButterPressure.h"


/** favor z-transitions */
template <typename Node, typename WalkState> class WalkModuleButterActivity : public WalkModule<Node, WalkState> {

public:

	/** ctor */
    WalkModuleButterActivity() {
		;
	}

	virtual void updateBefore(WalkState& state) override {
		(void) state;
	}

	virtual void updateAfter(WalkState& state, const Node& startNode, const Node& endNode) override {
		(void) state;
		(void) startNode;
		(void) endNode;

	}

	virtual void step(WalkState& state, const Node& curNode, const Node& nextNode) override {
		(void) state;
		(void) curNode;
		(void) nextNode;
	}

	double getProbability(const WalkState& state, const Node& startNode, const Node& curNode, const Node& potentialNode) const override {

		(void) state;
		(void) startNode;

        const int deltaZ_cm = curNode.z_cm - potentialNode.z_cm;

        if(state.act == ActivityButterPressure::Activity::DOWN){
            if (deltaZ_cm < 0) {return 0;}
            if (deltaZ_cm == 0) {return 0.1;}
            return 0.9;
        } else if (state.act == ActivityButterPressure::Activity::UP){
            if (deltaZ_cm > 0) {return 0;}
            if (deltaZ_cm == 0) {return 0.1;}
            return 0.9;
        } else {
            if (deltaZ_cm == 0) {return 0.9;}
            return 0.1;
        }

	}


};

#endif // WALKMODULEBUTTERACTIVITY_H