#include "PublicSDKMotion.h"

class RunGame : public PublicSDKMotion {
public:
	RunGame();

	void setData(deque<shoes_data_cell>& shoes_data_vector, int time_stamp, float pos_x, float pos_y, float pos_z, float heading, float pitch, float roll, int zupt, int rssi);

	void setStepHeading(float& cur_heading, float heading);

	void calGlobalPos(deque<shoes_data_cell>& shoes_data_vector, deque<shoes_data_cell>& step_data_vector,
		float* global_pos, int LEFT_OR_RIGHT);

	virtual void Process(int time_stamp, int* right_pos, int* right_att, int* right_acc, int right_zupt, int right_front_press, int right_back_press,
		int* left_pos, int* left_att, int* left_acc, int left_zupt, int left_front_press, int left_back_press,
		int jump, int down, int rssi);

	int rssiFeature(deque<shoes_data_cell>& shoes_data_vector);

	int getResultJump(int jump);
	int getResultDown(int down);

	virtual void getResult(int* dec);

	virtual float getGamePos(int left_or_right, int index);

	void setPolarAccUnzupt(int* max_acc, int* min_acc, int* acc, int zupt);

	bool unzuptValid(int* max_acc, int* min_acc);

private:
	deque<shoes_data_cell> left_shoes_data_vector;
	deque<shoes_data_cell> right_shoes_data_vector;

	float left_step_heading;
	float right_step_heading;

	float left_global_pos[3];
	float right_global_pos[3];

	deque<shoes_data_cell> left_step_data_vector;
	deque<shoes_data_cell> right_step_data_vector;

	float left_step_pos[3];
	float right_step_pos[3];

	int jump_count;
	int down_count;

	int last_down;
	int last_jump;

	int down_wait_after_jump;

	int result[4];

	float left_heading;
	float right_heading;

	int left_zupt_count;
	int right_zupt_count;

	int last_left_zupt;
	int last_right_zupt;

	int max_acc_unzupt_left[3];
	int min_acc_unzupt_left[3];

	int max_acc_unzupt_right[3];
	int min_acc_unzupt_right[3];


};