
#ifndef STEPEVALUATION_H
#define STEPEVALUATION_H



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

static constexpr double mu_walk = 90;
static constexpr double sigma_walk = 30;
static constexpr double mu_stop = 0;
static constexpr double sigma_stop = 5;

class StepEvaluation {

public:

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

		(void) state;
		(void) obs;

		return 1;

		// see: particle-filter-control-data
//		const float mdlWalked_m = state.walkState.distanceWalked_m;

//		((MyState&)state).walkState.distanceWalked_m = 0;

//		const float stepSize_m = 0.71;
//		const float sensSigma_m = 0.05 + (0.05 * obs->steps);
//		const float sensWalked_m = obs->steps * stepSize_m;

//		if (obs->steps > 1) {
//			int i = 0;
//			int j = i+1; ++j;
//		}

//		const double prob = K::NormalDistribution::getProbability(sensWalked_m, sensSigma_m, mdlWalked_m);

//		if (prob != prob) {
//			throw 1;
//		}

//		return prob;

    }

};



#endif // STEPEVALUATION_H
