#ifndef SETTINGS_H
#define SETTINGS_H

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

namespace Settings {

    const int numParticles = 5000;

	namespace IMU {
		const float turnSigma = 1.5;		// 3.5
		const float stepLength = 0.80;
        const float stepSigma = 0.40; //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 = 13.0;
		/** if the wifi-signal-strengths are stored on the grid-nodes, this needs a grid rebuild! */
		constexpr float TXP = -48;
        constexpr float EXP = 2.5;
		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 BeaconModel {
        constexpr float sigma = 13.0;
        constexpr float TXP = -48;
        constexpr float EXP = 1.5;
        constexpr float WAF = -8.0; //-5
    }

	namespace MapView3D {
		const int maxColorPoints = 10000;
		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
	}

}

#endif // SETTINGS_H