#ifndef TURNEVALUATION_H
#define TURNEVALUATION_H


#include "../particles/MyState.h"
#include "TurnObservation.h"
//#include <boost/math/special_functions/bessel.hpp>
#include <math.h>

//static constexpr double sigma_heading = 5;

class TurnEvaluation {

    //All calculations use degree not rad!!!

public:

    double getProbability(const MyState& state, const TurnObservation* obs, bool simple = false) const {

		(void) state;
		(void) obs;
		(void) simple;

		return 1;

		// see: particle-filter-control-data
//		// get the current heading-change
//		const float delta = Angle::radToDeg(state.walkState.headingChange_rad);

//		// and reset it as it was evaluated
//		((MyState&) state).walkState.headingChange_rad = 0;

//		// proability?
//		const float sigma = 15.0;
//		const double prob = K::NormalDistribution::getProbability(obs->delta_heading, sigma, delta);

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

//		return prob;

    }

};



#endif // TURNEVALUATION_H