#ifndef EVAL1_H
#define EVAL1_H

#include "EvalBase.h"
#include "../DijkstraMapper.h"
#include <Indoor/grid/walk/GridWalkRandomHeadingUpdate.h>
#include <Indoor/grid/walk/GridWalkRandomHeadingUpdateAdv.h>
#include <Indoor/grid/walk/GridWalkPushForward.h>
#include <Indoor/grid/walk/GridWalkLightAtTheEndOfTheTunnel.h>

#include <Indoor/grid/walk/GridWalkSimpleControl.h>
#include <Indoor/grid/walk/GridWalkPathControl.h>
#include <Indoor/grid/walk/GridWalkShortestPathControl.h>
#include "DebugShortestPath.h"

#include <KLib/math/filter/particles/resampling/ParticleFilterResamplingSimple.h>
#include <KLib/math/filter/particles/resampling/ParticleFilterResamplingPercent.h>

#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationWeightedAverage.h>
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationRegionalWeightedAverage.h>
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationOrderedWeightedAverage.h>

class Eval1 : public EvalBase {

public:

	Eval1() {


		pf = new K::ParticleFilter<MyState, MyControl, MyObservation>( MiscSettings::numParticles, std::unique_ptr<MyInitializer>(new MyInitializer(grid, 1120, 150, 3*350, 90)) );



		std::unique_ptr<MyEvaluation> eval = std::unique_ptr<MyEvaluation>( new MyEvaluation() );
		eval.get()->setUsage(true, true, true, true, true);
		pf->setEvaluation( std::move(eval) );

		// resampling step?
		pf->setNEffThreshold(1.0);
		pf->setResampling( std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>>(new K::ParticleFilterResamplingSimple<MyState>()) );
		//pf->setResampling( std::unique_ptr<K::ParticleFilterResamplingPercent<MyState>>(new K::ParticleFilterResamplingPercent<MyState>(0.10)) );

		// state estimation step
		pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
		//pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationRegionalWeightedAverage<MyState>>(new K::ParticleFilterEstimationRegionalWeightedAverage<MyState>()));
		//pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationOrderedWeightedAverage<MyState>>(new K::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.50f)));


		//		std::vector<int> wp = path2;// std::reverse(wp.begin(), wp.end());

//		MyGridNode& start = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[wp.front()]) );
//		MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[wp.back()]) );

//		//GridWalkRandomHeadingUpdate<MyGridNode>* walk = new GridWalkRandomHeadingUpdate<MyGridNode>();
//		//GridWalkRandomHeadingUpdateAdv<MyGridNode>* walk = new GridWalkRandomHeadingUpdateAdv<MyGridNode>();
//		//GridWalkPushForward<MyGridNode>* walk = new GridWalkPushForward<MyGridNode>();
//		//GridWalkLightAtTheEndOfTheTunnel<MyGridNode>* walk = new GridWalkLightAtTheEndOfTheTunnel<MyGridNode>(grid, DijkstraMapper(grid), end);
//		//GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
//		GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);

//		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );

//		// path1
////		sr = new SensorReader("./measurements/path1/1/1454345312844.csv"); // forward
////		srt = new SensorReaderTurn("./measurements/path1/1/Turns.txt");
////		srs = new SensorReaderStep("./measurements/path1/1/Steps2.txt");
////		sr = new SensorReader("./measurements/path1/2/1454345421125.csv"); // backward
////		srt = new SensorReaderTurn("./measurements/path1/2/Turns.txt");
////		srs = new SensorReaderStep("./measurements/path1/2/Steps2.txt");

//		// path2
//		sr = new SensorReader("./measurements/path2/1/1454345775306.csv"); // forward
//		srt = new SensorReaderTurn("./measurements/path2/1/Turns.txt");
//		srs = new SensorReaderStep("./measurements/path2/1/Steps2.txt");
//		//sr = new SensorReader("./measurements/path2/2/1454346071347.csv"); // backward
//		//srt = new SensorReaderTurn("./measurements/path2/2/Turns.txt");
//		//srs = new SensorReaderStep("./measurements/path2/2/Steps2.txt");

//		// path3
////		sr = new SensorReader("./measurements/path3/1/1454345546308.csv"); // forward
////		srt = new SensorReaderTurn("./measurements/path3/1/Turns.txt");
////		srs = new SensorReaderStep("./measurements/path3/1/Steps2.txt");
////		sr = new SensorReader("./measurements/path3/2/1454345622819.csv"); // backward
////		srt = new SensorReaderTurn("./measurements/path3/2/Turns.txt");
////		srs = new SensorReaderStep("./measurements/path3/2/Steps2.txt");

//		// path4
////		sr = new SensorReader("./measurements/path4/1454595382218.csv"); // forward
////		srt = new SensorReaderTurn("./measurements/path4/Turns.txt");
////		srs = new SensorReaderStep("./measurements/path4/Steps2.txt");



//		gtw = getGroundTruthWay(*sr, floors.gtwp, wp);

	}

	void setEvalFails() {

	}

	/**
	 * starting with bad barometer readings. takes some time to move upwards
	 * will be fixed by using the path
	 */
	void path2_forward_simple() {

		// forward
		runName = "path2_forward_simple";

		BarometerEvaluation::barometerSigma = 0.16;
		sr = new SensorReader("./measurements/path2/1/1454345775306.csv");
		srt = new SensorReaderTurn("./measurements/path2/1/Turns.txt");
		srs = new SensorReaderStep("./measurements/path2/1/Steps2.txt");
		gtw = getGroundTruthWay(*sr, floors.gtwp, path2);

		GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );

	}

	void path2_forward_path() {

		// forward
		runName = "path2_forward_path";

		BarometerEvaluation::barometerSigma = 0.16;
		sr = new SensorReader("./measurements/path2/1/1454345775306.csv");
		srt = new SensorReaderTurn("./measurements/path2/1/Turns.txt");
		srs = new SensorReaderStep("./measurements/path2/1/Steps2.txt");
		gtw = getGroundTruthWay(*sr, floors.gtwp, path2);

		MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path2.back()]) );
		GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );

	}



//	TODO: plot grid-nodes for stairs for the paper (also look at z-transitions. some have NO x/y change even though they should have!)


	void path3_forward_simple() {

		// forward
		runName = "path3_forward_simple";

		BarometerEvaluation::barometerSigma = 0.16;
		sr = new SensorReader("./measurements/path3/1/1454345546308.csv"); // forward
		srt = new SensorReaderTurn("./measurements/path3/1/Turns.txt");
		srs = new SensorReaderStep("./measurements/path3/1/Steps2.txt");
		gtw = getGroundTruthWay(*sr, floors.gtwp, path3);

		GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );

	}

	void path3_forward_path() {

//		looks like the left stairs here are NOT working as expected?!
//		plot them
//		look at the probability-draw, maybe there is an issue there

		// forward
		runName = "path3_forward_path";

		BarometerEvaluation::barometerSigma = 0.16;
		sr = new SensorReader("./measurements/path3/1/1454345546308.csv"); // forward
		srt = new SensorReaderTurn("./measurements/path3/1/Turns.txt");
		srs = new SensorReaderStep("./measurements/path3/1/Steps2.txt");
		gtw = getGroundTruthWay(*sr, floors.gtwp, path3);

		MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path3.back()]) );
		GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );

	}

	void path4_nexus_simple() {

		runName = "path4_nexus_simple";

		BarometerEvaluation::barometerSigma = 0.16;
		sr = new SensorReader("./measurements/path4/nexus/1454695040555.csv"); // forward
		srt = new SensorReaderTurn("./measurements/path4/nexus/Turns.txt");
		srs = new SensorReaderStep("./measurements/path4/nexus/Steps2.txt");
		gtw = getGroundTruthWay(*sr, floors.gtwp, path4dbl);

		// remove importance
		for (auto& n : grid) {n.imp = 1;}

		GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );

	}

	void path4_nexus_imp() {

		runName = "path4_nexus_importance";

		BarometerEvaluation::barometerSigma = 0.05;
		sr = new SensorReader("./measurements/path4/nexus/1454695040555.csv"); // forward
		srt = new SensorReaderTurn("./measurements/path4/nexus/Turns.txt");
		srs = new SensorReaderStep("./measurements/path4/nexus/Steps2.txt");
		gtw = getGroundTruthWay(*sr, floors.gtwp, path4dbl);

		GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );

	}

	void path4_nexus_path() {

		runName = "path4_nexus_path";

        BarometerEvaluation::barometerSigma = 0.05;
		sr = new SensorReader("./measurements/path4/nexus/1454695040555.csv"); // forward
		srt = new SensorReaderTurn("./measurements/path4/nexus/Turns.txt");
		srs = new SensorReaderStep("./measurements/path4/nexus/Steps2.txt");
		gtw = getGroundTruthWay(*sr, floors.gtwp, path4dbl);

		MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path4dbl.back()]) );
		GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );

	}

	void path4_nexus_path_b() {

		runName = "path4_nexus_path";

		BarometerEvaluation::barometerSigma = 0.05;
		sr = new SensorReader("./measurements/path4/nexus/1454695040555.csv"); // forward
		srt = new SensorReaderTurn("./measurements/path4/nexus/Turns.txt");
		srs = new SensorReaderStep("./measurements/path4/nexus/Steps2.txt");
		gtw = getGroundTruthWay(*sr, floors.gtwp, path4dbl);

		MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path4dbl.back()]) );
		DebugShortestPath<MyGridNode>* walk = new DebugShortestPath<MyGridNode>(grid, DijkstraMapper(grid), end, this->floors);
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );

	}





	void bergwerk_path1_nexus_simple() {

		runName = "bergwerk_path1_nexus_simple";

		BarometerEvaluation::barometerSigma = 0.10;
		sr = new SensorReader("./measurements/bergwerk/path1/nexus/vor/1454775984079.csv"); // forward
		srt = new SensorReaderTurn("./measurements/bergwerk/path1/nexus/vor/Turns.txt");
		srs = new SensorReaderStep("./measurements/bergwerk/path1/nexus/vor/Steps2.txt");
		gtw = getGroundTruthWay(*sr, floors.gtwp, path1dbl);

		for (auto& n : grid) {n.imp = 1;}

		GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );

	}


	void bergwerk_path1_nexus_imp() {

		runName = "bergwerk_path1_nexus_importance";

		BarometerEvaluation::barometerSigma = 0.10;
		sr = new SensorReader("./measurements/bergwerk/path1/nexus/vor/1454775984079.csv"); // forward
		srt = new SensorReaderTurn("./measurements/bergwerk/path1/nexus/vor/Turns.txt");
		srs = new SensorReaderStep("./measurements/bergwerk/path1/nexus/vor/Steps2.txt");
		gtw = getGroundTruthWay(*sr, floors.gtwp, path1dbl);

		GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );

	}

	void bergwerk_path1_nexus_multi() {

		runName = "bergwerk_path1_nexus_multi";

		BarometerEvaluation::barometerSigma = 0.10;
		sr = new SensorReader("./measurements/bergwerk/path1/nexus/vor/1454775984079.csv"); // forward
		srt = new SensorReaderTurn("./measurements/bergwerk/path1/nexus/vor/Turns.txt");
		srs = new SensorReaderStep("./measurements/bergwerk/path1/nexus/vor/Steps2.txt");
		gtw = getGroundTruthWay(*sr, floors.gtwp, path1dbl);

		MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path1dbl.back()]) );
		GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );

	}

	void bergwerk_path1_nexus_shortest() {

		runName = "bergwerk_path1_nexus_shortest";

		BarometerEvaluation::barometerSigma = 0.10;
		sr = new SensorReader("./measurements/bergwerk/path1/nexus/vor/1454775984079.csv"); // forward
		srt = new SensorReaderTurn("./measurements/bergwerk/path1/nexus/vor/Turns.txt");
		srs = new SensorReaderStep("./measurements/bergwerk/path1/nexus/vor/Steps2.txt");
		gtw = getGroundTruthWay(*sr, floors.gtwp, path1dbl);

		MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path1dbl.back()]) );
		DebugShortestPath<MyGridNode>* walk = new DebugShortestPath<MyGridNode>(grid, DijkstraMapper(grid), end, this->floors);
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );

	}

	/* ------------------------------------------------------------------------------------------------------------------------------- */

	void bergwerk_path2_nexus() {
		BarometerEvaluation::barometerSigma = 0.10;
		sr = new SensorReader("./measurements/bergwerk/path2/nexus/vor/1454779863041.csv"); // forward
		srt = new SensorReaderTurn("./measurements/bergwerk/path2/nexus/vor/Turns.txt");
		srs = new SensorReaderStep("./measurements/bergwerk/path2/nexus/vor/Steps2.txt");
		gtw = getGroundTruthWay(*sr, floors.gtwp, path2dbl);
	}

	void bergwerk_path2_nexus_simple() {

		runName = "bergwerk_path2_nexus_simple";
		bergwerk_path2_nexus();
		for (auto& n : grid) {n.imp = 1;}	// remove importance

		GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );

	}


	void bergwerk_path2_nexus_imp() {

		runName = "bergwerk_path2_nexus_importance";
		bergwerk_path2_nexus();

		GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );

	}

	void bergwerk_path2_nexus_multi() {

		runName = "bergwerk_path2_nexus_multi";
		bergwerk_path2_nexus();

		MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path2dbl.back()]) );
		GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );

	}

	void bergwerk_path2_nexus_shortest() {

		runName = "bergwerk_path2_nexus_shortest";
		bergwerk_path2_nexus();

		MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path2dbl.back()]) );
		DebugShortestPath<MyGridNode>* walk = new DebugShortestPath<MyGridNode>(grid, DijkstraMapper(grid), end, this->floors);
		walk->times = 4;
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );

	}

	/* ------------------------------------------------------------------------------------------------------------------------------- */

	void bergwerk_path3_nexus() {
		BarometerEvaluation::barometerSigma = 0.10;
		sr = new SensorReader("./measurements/bergwerk/path3/nexus/vor/1454782562231.csv"); // forward
		srt = new SensorReaderTurn("./measurements/bergwerk/path3/nexus/vor/Turns.txt");
		srs = new SensorReaderStep("./measurements/bergwerk/path3/nexus/vor/Steps2.txt");
		gtw = getGroundTruthWay(*sr, floors.gtwp, path3dbl);
	}

	void bergwerk_path3_nexus_simple() {

		runName = "bergwerk_path3_nexus_simple";
		bergwerk_path3_nexus();
		for (auto& n : grid) {n.imp = 1;}	// remove importance

		GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );

	}


	void bergwerk_path3_nexus_imp() {

		runName = "bergwerk_path3_nexus_importance";
		bergwerk_path3_nexus();

		GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );

	}

	void bergwerk_path3_nexus_multi() {

		runName = "bergwerk_path3_nexus_multi";
		bergwerk_path3_nexus();

		MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path3dbl.back()]) );
		GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );

	}

	void bergwerk_path3_nexus_shortest() {

		runName = "bergwerk_path3_nexus_shortest";
		bergwerk_path3_nexus();

		MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path3dbl.back()]) );
		DebugShortestPath<MyGridNode>* walk = new DebugShortestPath<MyGridNode>(grid, DijkstraMapper(grid), end, this->floors);
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );

	}

	/* ------------------------------------------------------------------------------------------------------------------------------- */

	void bergwerk_path4_nexus() {
		BarometerEvaluation::barometerSigma = 0.10;
		sr = new SensorReader("./measurements/bergwerk/path4/nexus/vor/1454776525797.csv"); // forward
		srt = new SensorReaderTurn("./measurements/bergwerk/path4/nexus/vor/Turns.txt");
		srs = new SensorReaderStep("./measurements/bergwerk/path4/nexus/vor/Steps2.txt");
		gtw = getGroundTruthWay(*sr, floors.gtwp, path4dbl);
		//for (const K::Particle<MyState>& _p : pf->getParticles()) {
		//	K::Particle<MyState>& p = (K::Particle<MyState>&) _p;
		//	p.state.pCur = floors.gtwp[path4dbl.front()];
		//	p.state.pOld = p.state.pCur;
		//	p.state.walkState.node = grid.getNodePtrFor( conv(p.state.pCur) );
		//	p.state.walkState.heading = Angle::degToRad(90);
		//}
	}

	void bergwerk_path4_nexus_simple() {

		runName = "bergwerk_path4_nexus_simple";
		bergwerk_path4_nexus();
		for (auto& n : grid) {n.imp = 1;}	// remove importance

		GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );

	}


	void bergwerk_path4_nexus_imp() {

		runName = "bergwerk_path4_nexus_importance";
		bergwerk_path4_nexus();

		GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );

	}

	void bergwerk_path4_nexus_multi() {

		runName = "bergwerk_path4_nexus_multi";
		bergwerk_path4_nexus();

		MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path4dbl.back()]) );
		GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );

	}

	void bergwerk_path4_nexus_shortest() {

		runName = "bergwerk_path4_nexus_shortest";
		bergwerk_path4_nexus();

		MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path4dbl.back()]) );
		DebugShortestPath<MyGridNode>* walk = new DebugShortestPath<MyGridNode>(grid, DijkstraMapper(grid), end, this->floors);
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );

	}

	/* ------------------------------------------------------------------------------------------------------------------------------- */

	void bergwerk_path1_galaxy() {
		BarometerEvaluation::barometerSigma = 0.20;
		stepSize = 0.9;
		sr = new SensorReader("./measurements/bergwerk/path1/galaxy/vor/1454776168794.csv"); // forward
		srt = new SensorReaderTurn("./measurements/bergwerk/path1/galaxy/vor/Turns.txt");
		srs = new SensorReaderStep("./measurements/bergwerk/path1/galaxy/vor/Steps2.txt");
		gtw = getGroundTruthWay(*sr, floors.gtwp, path1dbl);
	}

	void bergwerk_path1_galaxy_simple() {
		runName = "bergwerk_path1_galaxy_simple";
		bergwerk_path1_galaxy();
		for (auto& n : grid) {n.imp = 1;}	// remove importance
		GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
	}

	void bergwerk_path1_galaxy_multi() {
		runName = "bergwerk_path1_galaxy_multi";
		bergwerk_path1_galaxy();
		MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path1dbl.back()]) );
		GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
		walk->pOther = 0.15;
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
	}

	void bergwerk_path1_galaxy_shortest() {
		runName = "bergwerk_path1_galaxy_shortest";
		bergwerk_path1_galaxy();
		MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path1dbl.back()]) );
		DebugShortestPath<MyGridNode>* walk = new DebugShortestPath<MyGridNode>(grid, DijkstraMapper(grid), end, this->floors);
		walk->pOther = 0.15;
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
	}

	/* ------------------------------------------------------------------------------------------------------------------------------- */

	void bergwerk_path2_galaxy() {
		BarometerEvaluation::barometerSigma = 0.20;
		stepSize = 0.9;
		sr = new SensorReader("./measurements/bergwerk/path2/galaxy/vor/1454780113404.csv"); // forward
		srt = new SensorReaderTurn("./measurements/bergwerk/path2/galaxy/vor/Turns.txt");
		srs = new SensorReaderStep("./measurements/bergwerk/path2/galaxy/vor/Steps2.txt");
		gtw = getGroundTruthWay(*sr, floors.gtwp, path2dbl);
	}

	void bergwerk_path2_galaxy_simple() {
		runName = "bergwerk_path2_galaxy_simple";
		bergwerk_path2_galaxy();
		for (auto& n : grid) {n.imp = 1;}	// remove importance
		GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
	}

	void bergwerk_path2_galaxy_multi() {
		runName = "bergwerk_path2_galaxy_multi";
		bergwerk_path2_galaxy();
		MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path2dbl.back()]) );
		GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
		walk->pOther = 0.15;
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
	}

	void bergwerk_path2_galaxy_shortest() {
		runName = "bergwerk_path2_galaxy_shortest";
		bergwerk_path2_galaxy();
		MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path2dbl.back()]) );
		DebugShortestPath<MyGridNode>* walk = new DebugShortestPath<MyGridNode>(grid, DijkstraMapper(grid), end, this->floors);
		walk->pOther = 0.15;
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
	}

	/* ------------------------------------------------------------------------------------------------------------------------------- */

	void bergwerk_path3_galaxy() {
		BarometerEvaluation::barometerSigma = 0.20;
		stepSize = 0.9;
		sr = new SensorReader("./measurements/bergwerk/path3/galaxy/vor/1454782896548.csv"); // forward
		srt = new SensorReaderTurn("./measurements/bergwerk/path3/galaxy/vor/Turns.txt");
		srs = new SensorReaderStep("./measurements/bergwerk/path3/galaxy/vor/Steps2.txt");
		gtw = getGroundTruthWay(*sr, floors.gtwp, path3dbl);
	}

	void bergwerk_path3_galaxy_simple() {
		runName = "bergwerk_path3_galaxy_simple";
		bergwerk_path3_galaxy();
		for (auto& n : grid) {n.imp = 1;}	// remove importance
		GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
	}

	void bergwerk_path3_galaxy_multi() {
		runName = "bergwerk_path3_galaxy_multi";
		bergwerk_path3_galaxy();
		MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path3dbl.back()]) );
		GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
		walk->pOther = 0.15;
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
	}

	void bergwerk_path3_galaxy_shortest() {
		runName = "bergwerk_path3_galaxy_shortest";
		bergwerk_path3_galaxy();
		MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path3dbl.back()]) );
		DebugShortestPath<MyGridNode>* walk = new DebugShortestPath<MyGridNode>(grid, DijkstraMapper(grid), end, this->floors);
		walk->pOther = 0.15;
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
	}


	/* ------------------------------------------------------------------------------------------------------------------------------- */


	void bergwerk_path4_galaxy() {
		BarometerEvaluation::barometerSigma = 0.20;
		stepSize = 0.9;
		sr = new SensorReader("./measurements/bergwerk/path4/galaxy/vor/1454779020844.csv"); // forward
		srt = new SensorReaderTurn("./measurements/bergwerk/path4/galaxy/vor/Turns.txt");
		srs = new SensorReaderStep("./measurements/bergwerk/path4/galaxy/vor/Steps2.txt");
		gtw = getGroundTruthWay(*sr, floors.gtwp, path4dbl);
	}

	void bergwerk_path4_galaxy_simple() {
		runName = "bergwerk_path4_galaxy_simple";
		bergwerk_path4_galaxy();
		for (auto& n : grid) {n.imp = 1;}	// remove importance
		GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
	}

	void bergwerk_path4_galaxy_multi() {
		runName = "bergwerk_path4_galaxy_multi";
		bergwerk_path4_galaxy();
		MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path4dbl.back()]) );
		GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
		walk->pOther = 0.15;
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
	}

	void bergwerk_path4_galaxy_shortest() {

		runName = "bergwerk_path4_galaxy_shortest";
		bergwerk_path4_galaxy();
		MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path4dbl.back()]) );
		DebugShortestPath<MyGridNode>* walk = new DebugShortestPath<MyGridNode>(grid, DijkstraMapper(grid), end, this->floors);
		//walk->times = 2;
		walk->pOther = 0.15;
		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );

	}



};

#endif // EVAL1_H