/// \file  BehaviorPrediction.cpp
/// \brief Predict detected vehicles's possible trajectories, these trajectories extracted from the vector map.
/// \author Hatem Darweesh
/// \date Jul 6, 2017



#include "op_planner/BehaviorPrediction.h"
#include "op_planner/MappingHelpers.h"
#include "op_planner/PlanningHelpers.h"
#include "op_planner/MatrixOperations.h"


namespace PlannerHNS
{

BehaviorPrediction::BehaviorPrediction()
{
  m_MaxLaneDetectionDistance = 0.5;
  m_PredictionDistance = 20.0;
  m_bGenerateBranches = false;
  m_bUseFixedPrediction = true;
  m_bStepByStep = false;
  m_bCanDecide = true;
  m_bParticleFilter = false;
  UtilityHNS::UtilityH::GetTickCount(m_GenerationTimer);
  UtilityHNS::UtilityH::GetTickCount(m_ResamplingTimer);
  m_bFirstMove = true;
  m_bDebugOut = false;
}

BehaviorPrediction::~BehaviorPrediction()
{
}

void BehaviorPrediction::FilterObservations(const std::vector<DetectedObject>& obj_list, RoadNetwork& map, std::vector<DetectedObject>& filtered_list)
{
  for(unsigned int i=0; i < obj_list.size(); i++)
  {
    if(obj_list.at(i).t == SIDEWALK || obj_list.at(i).center.v < 1.0)
      continue;

    bool bFound = false;
    int found_index = 0;
    for(unsigned int ip=0; ip < filtered_list.size(); ip++)
    {
      if(filtered_list.at(ip).id == obj_list.at(i).id)
      {
        found_index = ip;
        bFound = true;
        break;
      }
    }

    if(bFound)
      filtered_list.at(found_index) = obj_list.at(i);
    else
      filtered_list.push_back(obj_list.at(i));
  }

  for(int ip=0; ip < (int)filtered_list.size(); ip++)
  {
    //check for cleaning
    bool bRevFound = false;
    for(unsigned int ic=0; ic < obj_list.size(); ic++)
    {
      if(filtered_list.at(ip).id == obj_list.at(ic).id)
      {
        bRevFound = true;
        break;
      }
    }

    if(!bRevFound)
    {
      filtered_list.erase(filtered_list.begin()+ip);
      ip--;
    }
  }
}

void BehaviorPrediction::DoOneStep(const std::vector<DetectedObject>& obj_list, const WayPoint& currPose, const double& minSpeed, const double& maxDeceleration, RoadNetwork& map)
{
  if(!m_bUseFixedPrediction && maxDeceleration !=0)
    m_PredictionDistance = -pow(currPose.v, 2)/(maxDeceleration);

  ExtractTrajectoriesFromMap(obj_list, map, m_ParticleInfo_II);
  CalculateCollisionTimes(minSpeed);

  if(m_bParticleFilter)
  {
    ParticleFilterSteps(m_ParticleInfo_II);
  }
}

void BehaviorPrediction::CalculateCollisionTimes(const double& minSpeed)
{
  for(unsigned int i=0; i < m_ParticleInfo_II.size(); i++)
  {
    for(unsigned int j=0; j < m_ParticleInfo_II.at(i)->obj.predTrajectories.size(); j++)
    {
      PlannerHNS::PlanningHelpers::PredictConstantTimeCostForTrajectory(m_ParticleInfo_II.at(i)->obj.predTrajectories.at(j), m_ParticleInfo_II.at(i)->obj.center, minSpeed, m_PredictionDistance);
//      PlannerHNS::PlanningHelpers::CalcAngleAndCost(m_PredictedObjects.at(i).predTrajectories.at(j));
    }
  }
}

void BehaviorPrediction::ExtractTrajectoriesFromMap(const std::vector<DetectedObject>& curr_obj_list,RoadNetwork& map, std::vector<ObjParticles*>& old_obj_list)
{
  PlannerH planner;
  m_temp_list_ii.clear();

  std::vector<ObjParticles*> delete_me_list = old_obj_list;

  for(unsigned int i=0; i < curr_obj_list.size(); i++)
  {
    bool bMatch = false;
    for(unsigned int ip=0; ip < old_obj_list.size(); ip++)
    {
      if(old_obj_list.at(ip)->obj.id == curr_obj_list.at(i).id)
      {
        bool bFound = false;
        for(unsigned int k=0; k < m_temp_list_ii.size(); k++)
        {
          if(m_temp_list_ii.at(k) == old_obj_list.at(ip))
          {
            bFound = true;
            break;
          }
        }

        if(!bFound)
        {
          old_obj_list.at(ip)->obj = curr_obj_list.at(i);
          m_temp_list_ii.push_back(old_obj_list.at(ip));
        }

        DeleteFromList(delete_me_list, old_obj_list.at(ip));

        old_obj_list.erase(old_obj_list.begin()+ip);
        bMatch = true;
        break;
      }
    }

    if(!bMatch)
    {
      ObjParticles* pNewObj = new  ObjParticles();
      pNewObj->obj = curr_obj_list.at(i);
      m_temp_list_ii.push_back(pNewObj);
    }
  }

  DeleteTheRest(delete_me_list);
  old_obj_list.clear();
  old_obj_list = m_temp_list_ii;

  //m_PredictedObjects.clear();
  for(unsigned int ip=0; ip < old_obj_list.size(); ip++)
  {
    PredictCurrentTrajectory(map, old_obj_list.at(ip));
    //m_PredictedObjects.push_back(old_obj_list.at(ip)->obj);
    old_obj_list.at(ip)->MatchTrajectories();
  }

}

void BehaviorPrediction::CalPredictionTimeForObject(ObjParticles* pCarPart)
{
  if(pCarPart->obj.center.v > 0 )
    pCarPart->m_PredictionTime = (MIN_PREDICTION_TIME + 1.5*pCarPart->obj.center.v) / pCarPart->obj.center.v;
  else
    pCarPart->m_PredictionTime = MIN_PREDICTION_TIME;
}

void BehaviorPrediction::PredictCurrentTrajectory(RoadNetwork& map, ObjParticles* pCarPart)
{
  pCarPart->obj.predTrajectories.clear();
  PlannerH planner;
  if(pCarPart->obj.bDirection && pCarPart->obj.bVelocity)
  {
    PlannerHNS::WayPoint fake_pose = pCarPart->obj.center;
    pCarPart->obj.pClosestWaypoints = MappingHelpers::GetClosestWaypointsListFromMap(fake_pose, map, m_MaxLaneDetectionDistance, pCarPart->obj.bDirection);
    planner.PredictTrajectoriesUsingDP(fake_pose, pCarPart->obj.pClosestWaypoints, m_PredictionDistance, pCarPart->obj.predTrajectories, m_bGenerateBranches, pCarPart->obj.bDirection);
  }
  else
  {
    bool bLocalDirectionSearch = false;
    pCarPart->obj.pClosestWaypoints = MappingHelpers::GetClosestWaypointsListFromMap(pCarPart->obj.center, map, m_MaxLaneDetectionDistance, pCarPart->obj.bDirection);
    if(pCarPart->obj.pClosestWaypoints.size()>0)
    {
      pCarPart->obj.center.pos.a = pCarPart->obj.pClosestWaypoints.at(0)->pos.a;
      bLocalDirectionSearch = true;
    }
    planner.PredictTrajectoriesUsingDP(pCarPart->obj.center, pCarPart->obj.pClosestWaypoints, m_PredictionDistance, pCarPart->obj.predTrajectories, m_bGenerateBranches, pCarPart->obj.bDirection);
  }


  for(unsigned int t = 0; t < pCarPart->obj.predTrajectories.size(); t ++)
  {
//    std::ostringstream path_name;
//    path_name << "/home/hatem/autoware_openplanner_logs/TempPredLog/";
//    path_name << t ;
//    path_name << "_";
//    PlanningHelpers::GenerateRecommendedSpeed(pCarPart->obj.predTrajectories.at(t), 10, 1.0);
//    PlannerHNS::PlanningHelpers::WritePathToFile(path_name.str(), pCarPart->obj.predTrajectories.at(t));
    if(pCarPart->obj.predTrajectories.at(t).size() > 0)
      pCarPart->obj.predTrajectories.at(t).at(0).collisionCost = 0;
  }
}

void BehaviorPrediction::ParticleFilterSteps(std::vector<ObjParticles*>& part_info)
{
  for(unsigned int i=0; i < part_info.size(); i++)
  {
    SamplesFreshParticles(part_info.at(i));
    CollectParticles(part_info.at(i));
    MoveParticles(part_info.at(i));
    CalculateWeights(part_info.at(i));
    RemoveWeakParticles(part_info.at(i));
    CalculateAveragesAndProbabilities(part_info.at(i));
    FindBest(part_info.at(i));
  }
}

int BehaviorPrediction::FromIndicatorToNumber(const PlannerHNS::LIGHT_INDICATOR& indi)
{
  if(indi == PlannerHNS::INDICATOR_NONE)
    return 0;
  else if(indi == PlannerHNS::INDICATOR_LEFT)
  {
    return 1;
  }
  else if(indi == PlannerHNS::INDICATOR_RIGHT)
    return 2;
  else if(indi == PlannerHNS::INDICATOR_BOTH)
    return 3;
  else
    return 0;
}

PlannerHNS::LIGHT_INDICATOR BehaviorPrediction::FromNumbertoIndicator(const int& num)
{
  if(num == 0)
    return PlannerHNS::INDICATOR_NONE;
  else if(num == 1)
    return PlannerHNS::INDICATOR_LEFT;
  else if(num == 2)
    return PlannerHNS::INDICATOR_RIGHT;
  else if(num == 3)
    return PlannerHNS::INDICATOR_BOTH;
  else
    return PlannerHNS::INDICATOR_NONE;
}

double BehaviorPrediction::CalcIndicatorWeight(PlannerHNS::LIGHT_INDICATOR p_ind, PlannerHNS::LIGHT_INDICATOR obj_ind)
{
  if((obj_ind == PlannerHNS::INDICATOR_LEFT || obj_ind == PlannerHNS::INDICATOR_RIGHT || obj_ind == PlannerHNS::INDICATOR_NONE) && p_ind == obj_ind)
    return 0.99;
  else
    return 0.01;
}

double BehaviorPrediction::CalcAccelerationWeight(int p_acl, int obj_acl)
{
  if((p_acl > 0 && obj_acl > 0) || (p_acl < 0 && obj_acl < 0))
    return 0.99;
  else
    return 0.01;
}

void BehaviorPrediction::CalOnePartWeight(ObjParticles* pParts,Particle& p)
{
  if(p.bDeleted) return;

  //p.pose_w = exp(-(0.5*pow((p.pose.pos.x - pParts->obj.center.pos.x),2)/(2*MEASURE_POSE_ERROR*MEASURE_POSE_ERROR)+ pow((p.pose.pos.y - pParts->obj.center.pos.y),2)/(2*MEASURE_POSE_ERROR*MEASURE_POSE_ERROR)));
  p.pose_w = 1.0/hypot(0.5*(p.pose.pos.y - pParts->obj.center.pos.y), 0.5*(p.pose.pos.x - pParts->obj.center.pos.x));
  //p.dir_w  = exp(-(pow(fabs(UtilityHNS::UtilityH::AngleBetweenTwoAnglesPositive(p.pose.pos.a,  pParts->obj.center.pos.a)),2)/(2*MEASURE_ANGLE_ERROR*MEASURE_ANGLE_ERROR)));
  p.dir_w  = M_PI_2 - fabs(UtilityHNS::UtilityH::AngleBetweenTwoAnglesPositive(p.pose.pos.a,  pParts->obj.center.pos.a));
  p.vel_w  = exp(-(pow((p.vel - pParts->obj.center.v),2)/(2*MEASURE_VEL_ERROR*MEASURE_VEL_ERROR)));
  //p.vel_w = fabs(p.vel - pParts->obj.center.v);
  p.ind_w  = CalcIndicatorWeight(FromNumbertoIndicator(p.indicator), pParts->obj.indicator_state);
  p.ind_w  -= p.ind_w*MEASURE_IND_ERROR;
  p.acl_w = CalcAccelerationWeight(p.acc, pParts->obj.acceleration_desc);

  //std::cout << p.beh << "|" << p.vel_w <<"|" <<p.vel << "|" << pParts->obj.center.v;

  pParts->pose_w_t += p.pose_w;
  pParts->dir_w_t += p.dir_w;
  pParts->vel_w_t += p.vel_w;
  pParts->ind_w_t += p.ind_w;
  pParts->acl_w_t += p.acl_w;

  if(p.pose_w > pParts->pose_w_max)
    pParts->pose_w_max = p.pose_w;
  if(p.dir_w > pParts->dir_w_max)
    pParts->dir_w_max = p.dir_w;
  if(p.vel_w > pParts->vel_w_max)
    pParts->vel_w_max = p.vel_w;
  if(p.ind_w > pParts->ind_w_max)
    pParts->ind_w_max = p.ind_w;
  if(p.acl_w > pParts->acl_w_max)
    pParts->acl_w_max = p.acl_w;

  if(p.pose_w < pParts->pose_w_min)
    pParts->pose_w_min = p.pose_w;
  if(p.dir_w < pParts->dir_w_min)
    pParts->dir_w_min = p.dir_w;
  if(p.vel_w < pParts->vel_w_min)
    pParts->vel_w_min = p.vel_w;
  if(p.ind_w < pParts->ind_w_min)
    pParts->ind_w_min = p.ind_w;
  if(p.acl_w < pParts->acl_w_min)
    pParts->acl_w_min = p.acl_w;

  p.w_raw = p.pose_w*POSE_FACTOR + p.dir_w*DIRECTION_FACTOR + p.vel_w*VELOCITY_FACTOR + p.ind_w*INDICATOR_FACTOR + p.acl_w*ACCELERATE_FACTOR;

  if(p.w_raw >= pParts->max_w_raw)
    pParts->max_w_raw = p.w_raw;

  if(p.w_raw <= pParts->min_w_raw)
    pParts->min_w_raw = p.w_raw;
}

void BehaviorPrediction::NormalizeOnePartWeight(ObjParticles* pParts,Particle& p)
{
  if(p.bDeleted) return;

  double pose_diff  = pParts->pose_w_max-pParts->pose_w_min;
  double dir_diff = pParts->dir_w_max-pParts->dir_w_min;
  double vel_diff = pParts->vel_w_max-pParts->vel_w_min;
  double ind_diff = pParts->ind_w_max-pParts->ind_w_min;
  double acl_diff = pParts->acl_w_max-pParts->acl_w_min;

  double epsilon = 0.05;

  if(fabs(pose_diff) > epsilon)
    p.pose_w = p.pose_w/pose_diff;
  else
    p.pose_w = 0;

  if(p.pose_w > 1.0 ) p.pose_w = 1.0;

  if(fabs(dir_diff) > epsilon)
    p.dir_w = (p.dir_w - pParts->dir_w_min)/dir_diff;
  else
    p.dir_w = 0;

  if(p.dir_w > 1.0 ) p.dir_w = 1.0;

  if(fabs(vel_diff) > epsilon)
    p.vel_w = (p.vel_w-pParts->vel_w_min)/vel_diff;
  else
    p.vel_w = 0;

  if(p.vel_w > 1.0) p.vel_w = 1.0;

  if(fabs(ind_diff) > epsilon)
    p.ind_w = (p.ind_w - pParts->ind_w_min)/ind_diff;
  else
    p.ind_w = 0;

  if(p.ind_w > 1.0) p.ind_w = 1.0;

  if(fabs(acl_diff) > epsilon)
    p.acl_w = (p.acl_w - pParts->acl_w_min)/acl_diff;
  else
    p.acl_w = 0;

  if(p.acl_w > 1.0) p.acl_w = 1.0;

  p.w = p.pose_w*POSE_FACTOR + p.dir_w*DIRECTION_FACTOR + p.vel_w*VELOCITY_FACTOR + p.ind_w*INDICATOR_FACTOR + p.acl_w*ACCELERATE_FACTOR;
  //p.w = p.pose_w*0.1 + p.vel_w*0.2 + p.dir_w * 0.2 + p.ind_w + 0.5;

  if(p.w >= pParts->max_w)
    pParts->max_w = p.w;

  if(p.w <= pParts->min_w)
    pParts->min_w = p.w;

    pParts->all_w += p.w;
}

void BehaviorPrediction::CalculateWeights(ObjParticles* pParts)
{
  pParts->all_w = 0;
  pParts->pose_w_t = 0;
  pParts->dir_w_t = 0;
  pParts->vel_w_t = 0;
  pParts->acl_w_t = 0;

  pParts->pose_w_max = -99999999;
  pParts->dir_w_max = -99999999;
  pParts->vel_w_max = -99999999;
  pParts->acl_w_max = -99999999;

  pParts->pose_w_min = 99999999;
  pParts->dir_w_min = 99999999;
  pParts->vel_w_min = 99999999;
  pParts->acl_w_min = 99999999;

  pParts->max_w_raw = DBL_MIN;
  pParts->min_w_raw = DBL_MAX;

  //std::cout << "Acceleration Diff: ";
  for(unsigned int i = 0 ; i < pParts->m_AllParticles.size(); i++)
  {
    //  std::cout << "(" << pParts->m_AllParticles.at(i)->pTraj->index <<",";
      CalOnePartWeight(pParts, *pParts->m_AllParticles.at(i));
      //std::cout << ")";
  }

  //std::cout << "Befor Normalize: Max: " <<  pParts->acl_w_max << ", Min: " << pParts->acl_w_min << std::endl;
  //std::cout << std::endl;

  //if((pParts->m_TrajectoryTracker.size() > 1 && pParts->min_w_raw < 0.5) || pParts->max_w_raw == 0 || fabs(pParts->max_w_raw - pParts->min_w_raw) < 0.1 )
  if((pParts->max_w_raw == 0 || fabs(pParts->max_w_raw - pParts->min_w_raw) < 0.1 || pParts->min_w_raw > 0.5) && pParts->m_TrajectoryTracker.size() > 1)
    m_bCanDecide = false;
  else
    m_bCanDecide = true;

  //Normalize
  pParts->max_w = -9999999;
  pParts->min_w = 9999999;
  pParts->all_w = 0;

  for(unsigned int i = 0 ; i < pParts->m_AllParticles.size(); i++)
  {
    NormalizeOnePartWeight(pParts, *pParts->m_AllParticles.at(i));
  }
}

void BehaviorPrediction::CalculateAveragesAndProbabilities(ObjParticles* pParts)
{
  for(unsigned int t=0; t < pParts->m_TrajectoryTracker.size(); t++)
  {
    pParts->m_TrajectoryTracker.at(t)->CalcAverages();
    pParts->m_TrajectoryTracker.at(t)->CalcProbabilities();
  }
}

void BehaviorPrediction::RemoveWeakParticles(ObjParticles* pParts)
{

  double critical_val = pParts->min_w + (pParts->max_w - pParts->min_w)*KEEP_PERCENTAGE;
//  std::cout << "Behavior Weights ------------------------------------------------ " << std::endl;
//  std::cout << "Max Raw: " << pParts->max_w_raw << ", Min Raw: " << pParts->min_w_raw << std::endl;
//  std::cout << "Keep Percent Value: " << critical_val <<  std::endl;
//
//  if(pParts->obj.acceleration > 0 )
//    std::cout << "Accelerate vrooom vroom : " << std::endl;
//  else if(pParts->obj.acceleration  < 0 )
//    std::cout << "Brake Eeeeee Eeeeeeee: " << std::endl;

  for(int i =0 ; i < pParts->m_AllParticles.size(); i++)
  {
    //also delete far particle
    double d = hypot(pParts->obj.center.pos.y - pParts->m_AllParticles.at(i)->pose.pos.y, pParts->obj.center.pos.x - pParts->m_AllParticles.at(i)->pose.pos.x);

    if(pParts->m_AllParticles.at(i)->w < critical_val || d > m_PredictionDistance)
    {
      pParts->m_AllParticles.at(i)->pTraj->DeleteParticle(*(pParts->m_AllParticles.at(i)), pParts->m_AllParticles.at(i)->original_index);
      pParts->m_AllParticles.erase(pParts->m_AllParticles.begin()+i);
      i--;
    }
  }
}

void BehaviorPrediction::FindBest(ObjParticles* pParts)
{
  if(pParts->m_TrajectoryTracker.size() > 0)
  {
    pParts->best_beh_track = pParts->m_TrajectoryTracker.at(0);
    pParts->i_best_track = 0;
  }

  for(unsigned int t = 1; t < pParts->m_TrajectoryTracker.size(); t++)
  {
    if(pParts->m_TrajectoryTracker.at(t)->best_p > pParts->best_beh_track->best_p)
    {
      pParts->best_beh_track = pParts->m_TrajectoryTracker.at(t);
      pParts->i_best_track = t;
    }
  }


  if(m_bDebugOut )
  {
    std::cout << "Behavior Prob ------------------------------------------------ : " << pParts->m_TrajectoryTracker.size() << std::endl;
    std::cout << "Raw  Weights: Max: " <<  pParts->max_w_raw << ", Min: " << pParts->min_w_raw << std::endl;
    std::cout << "Norm Weights: Max: " <<  pParts->max_w << ", Min: " << pParts->min_w << std::endl;
  }

  for(unsigned int t=0; t < pParts->obj.predTrajectories.size() ; t++)
  {
    if(pParts->obj.predTrajectories.at(t).size()>0)
    {
      pParts->obj.predTrajectories.at(t).at(0).collisionCost = 0.25;
    }
  }

  if(m_bCanDecide && pParts->best_beh_track != nullptr)
  {
    std::string str_beh = "Unknown";
    if(pParts->best_beh_track->best_beh == BEH_STOPPING_STATE)
      str_beh = "Stopping";
    else if(pParts->best_beh_track->best_beh == BEH_FORWARD_STATE)
      str_beh = "Forward";

    if(m_bDebugOut )
      std::cout << "Trajectory (" << pParts->i_best_track << "), P: " << pParts->best_beh_track->best_p << " , Beh (" << pParts->best_beh_track->best_beh << ", " << str_beh << ")" << std::endl;

    if(pParts->best_beh_track->index < pParts->obj.predTrajectories.size())
      pParts->obj.predTrajectories.at(pParts->best_beh_track->index).at(0).collisionCost = 1;

  }
  else
  {
    if(m_bDebugOut )
      std::cout << "Trajectory (" << -1 << "), P: " << 0 << " , Beh (" << -1 << ", " << "Can't Decide" << ")" << std::endl;
  }

  if(m_bDebugOut )
  {
    for(unsigned int t=0; t < pParts->m_TrajectoryTracker.size() ; t++)
    {
      if(pParts->m_TrajectoryTracker.at(t)->nAliveForward > 0)
        std::cout << t << ", Forward Particles:" << pParts->m_TrajectoryTracker.at(t)->nAliveForward << std::endl;
      if(pParts->m_TrajectoryTracker.at(t)->nAliveStop > 0)
        std::cout << t << ", Stoping Particles:" << pParts->m_TrajectoryTracker.at(t)->nAliveStop << std::endl;
    }

    std::cout << "------------------------------------------------ --------------" << std::endl<< std::endl;
  }
}

void BehaviorPrediction::SamplesFreshParticles(ObjParticles* pParts)
{
  timespec _time;
  UtilityHNS::UtilityH::GetTickCount(_time);
  srand(_time.tv_nsec);

  ENG eng(_time.tv_nsec);
  NormalDIST dist_x(0, MOTION_POSE_ERROR);
  VariatGEN gen_x(eng, dist_x);
  NormalDIST vel(MOTION_VEL_ERROR, MOTION_VEL_ERROR);
  VariatGEN gen_v(eng, vel);
  NormalDIST ang(0, MOTION_ANGLE_ERROR);
  VariatGEN gen_a(eng, ang);
//  NormalDIST acl(0, MEASURE_ACL_ERROR);
//  VariatGEN gen_acl(eng, acl);

  Particle p;
  p.pose = pParts->obj.center;
  p.vel = 0;
  p.acc = 0;
  p.indicator = 0;
  bool bRegenerate = true;

  if(UtilityHNS::UtilityH::GetTimeDiffNow(m_GenerationTimer) > 2)
  {
    UtilityHNS::UtilityH::GetTickCount(m_GenerationTimer);
    bRegenerate = true;
  }

//  for(unsigned int t=0; t < pParts->m_TrajectoryTracker.size(); t++)
//  {
//    PlanningHelpers::FixPathDensity(pParts->m_TrajectoryTracker.at(t)->trajectory, 0.5);
//    PlanningHelpers::CalcAngleAndCost(pParts->m_TrajectoryTracker.at(t)->trajectory);
//  }

  for(unsigned int t=0; t < pParts->m_TrajectoryTracker.size(); t++)
  {
    RelativeInfo info;
    PlanningHelpers::GetRelativeInfo(pParts->m_TrajectoryTracker.at(t)->trajectory, pParts->obj.center, info);
    unsigned int point_index = 0;
    p.pose = PlanningHelpers::GetFollowPointOnTrajectory(pParts->m_TrajectoryTracker.at(t)->trajectory, info, PREDICTION_DISTANCE_PERCENTAGE*m_PredictionDistance, point_index);

    if(pParts->m_TrajectoryTracker.at(t)->beh == PlannerHNS::BEH_FORWARD_STATE && pParts->m_TrajectoryTracker.at(t)->nAliveForward < BEH_PARTICLES_NUM)
    {
      p.beh = PlannerHNS::BEH_FORWARD_STATE;
      int nPs = BEH_PARTICLES_NUM - pParts->m_TrajectoryTracker.at(t)->nAliveForward;

      for(unsigned int i=0; i < nPs; i++)
      {
        Particle p_new = p;
        p_new.pose.pos.x += gen_x();
        p_new.pose.pos.y += gen_x();
        p_new.pose.pos.a += gen_a();
        p_new.vel = pParts->obj.center.v + fabs(gen_v());
        p_new.pose.v = p_new.vel;
        pParts->m_TrajectoryTracker.at(t)->InsertNewParticle(p_new);
      }
    }

    if(ENABLE_STOP_BEHAVIOR_GEN == 1 && pParts->m_TrajectoryTracker.at(t)->nAliveStop <   BEH_PARTICLES_NUM)
    {
      p.beh = PlannerHNS::BEH_STOPPING_STATE;
      int nPs = BEH_PARTICLES_NUM - pParts->m_TrajectoryTracker.at(t)->nAliveStop;

      for(unsigned int i=0; i < nPs; i++)
      {
        Particle p_new = p;
        p_new.pose.pos.x += gen_x();
        p_new.pose.pos.y += gen_x();
        p_new.pose.pos.a += gen_a();
        p_new.vel = 0;
        p_new.pose.v = pParts->obj.center.v + fabs(gen_v());
        pParts->m_TrajectoryTracker.at(t)->InsertNewParticle(p_new);
      }
    }
  }
}

void BehaviorPrediction::CollectParticles(ObjParticles* pParts)
{
  pParts->m_AllParticles.clear();
  for(unsigned int t=0; t < pParts->m_TrajectoryTracker.size(); t++)
  {
    for(unsigned int i=0; i < pParts->m_TrajectoryTracker.at(t)->m_ForwardPart.size(); i++)
    {
      pParts->m_TrajectoryTracker.at(t)->m_ForwardPart.at(i).original_index = i;
      pParts->m_AllParticles.push_back(&pParts->m_TrajectoryTracker.at(t)->m_ForwardPart.at(i));
    }

    for(unsigned int i=0; i < pParts->m_TrajectoryTracker.at(t)->m_StopPart.size(); i++)
    {
      pParts->m_TrajectoryTracker.at(t)->m_StopPart.at(i).original_index = i;
      pParts->m_AllParticles.push_back(&pParts->m_TrajectoryTracker.at(t)->m_StopPart.at(i));
    }
  }
}

void BehaviorPrediction::MoveParticles(ObjParticles* pParts)
{
  double dt = 0.01;
  if(m_bStepByStep)
  {
    dt = 0.08;
  }
  else
  {
    dt = UtilityHNS::UtilityH::GetTimeDiffNow(m_ResamplingTimer);
    UtilityHNS::UtilityH::GetTickCount(m_ResamplingTimer);
    if(m_bFirstMove)
    {
      m_bFirstMove  = false;
      return;
    }
  }

  PlannerHNS::BehaviorState curr_behavior;
  PlannerHNS::ParticleInfo curr_part_info;
  PlannerHNS::VehicleState control_u;
  PassiveDecisionMaker decision_make;
  PlannerHNS::CAR_BASIC_INFO carInfo;
  carInfo.width = pParts->obj.w;
  carInfo.length = pParts->obj.l;
  carInfo.max_acceleration = 3.0;
  carInfo.max_deceleration = -3;
  carInfo.max_speed_forward = MAX_PREDICTION_SPEED;
  carInfo.min_speed_forward = 0;
  carInfo.max_steer_angle = 0.4;
  carInfo.min_steer_angle = -0.4;
  carInfo.turning_radius = 7.2;
  carInfo.wheel_base = carInfo.length*0.75;

  for(unsigned int t=0; t < pParts->m_TrajectoryTracker.size(); t++)
  {
    PlanningHelpers::GenerateRecommendedSpeed(pParts->m_TrajectoryTracker.at(t)->trajectory, carInfo.max_speed_forward, 1.0);
  }

//  std::cout << "Motion Status------ " << std::endl;
//  if(pParts->obj.acceleration_desc == 1)
//    std::cout << "Acceleration: " << pParts->obj.acceleration_raw << ", Accelerate: " << pParts->obj.acceleration_desc << std::endl;
//  else if(pParts->obj.acceleration_desc == -1)
//    std::cout << "Acceleration: " << pParts->obj.acceleration_raw << ", Braking   : " << pParts->obj.acceleration_desc << std::endl;
//  else
//    std::cout << "Acceleration: " << pParts->obj.acceleration_raw << ", Cruising  : " << pParts->obj.acceleration_desc << std::endl;

  for(unsigned int i=0; i < pParts->m_AllParticles.size(); i++)
  {
    Particle* p = pParts->m_AllParticles.at(i);

    if(USE_OPEN_PLANNER_MOVE == 0)
      {
      p->pose.v = pParts->obj.center.v;
      curr_part_info = decision_make.MoveStepSimple(dt, p->pose, p->pTraj->trajectory,carInfo);
      if(p->prev_time_diff > ACCELERATION_CALC_TIME)
      {
        p->acc_raw = (curr_part_info.vel - p->vel_prev_big)/p->prev_time_diff;
        p->vel_prev_big = curr_part_info.vel;
        p->prev_time_diff = 0;
      }
      else
      {
        p->prev_time_diff += dt;
      }

      if(fabs(p->acc_raw) < ACCELERATION_DECISION_VALUE)
        p->acc = 0;
      else if(p->acc_raw > ACCELERATION_DECISION_VALUE)
        p->acc = 1;
      else if(p->acc_raw < -ACCELERATION_DECISION_VALUE)
        p->acc = -1;

      p->indicator = FromIndicatorToNumber(curr_part_info.indicator);

//      if(curr_behavior.state == PlannerHNS::STOPPING_STATE && p->beh == PlannerHNS::BEH_YIELDING_STATE)
//        p->vel += 1;
//      else if(p->beh == PlannerHNS::BEH_YIELDING_STATE)
//        p->vel = p->vel/2.0;
//      else if(curr_behavior.state != PlannerHNS::STOPPING_STATE && p->beh == PlannerHNS::BEH_STOPPING_STATE)
//        p->vel += 1;
//      else if(p->beh == PlannerHNS::BEH_STOPPING_STATE)
//        p->vel = 0;

//      if(curr_behavior.state != PlannerHNS::STOPPING_STATE && p->beh == PlannerHNS::BEH_STOPPING_STATE)
//        p->vel += 1;
      if(p->beh == PlannerHNS::BEH_STOPPING_STATE)
      {
        p->vel = 0;
        if(p->acc == 0)
          p->acc = -1;
        else if(p->acc == 1)
          p->acc = 0;
      }

      }
    else
      {
      curr_behavior = decision_make.MoveStep(dt, p->pose, p->pTraj->trajectory,carInfo);
      p->acc = UtilityHNS::UtilityH::GetSign(curr_behavior.maxVelocity - p->vel_prev_big);
      p->vel = curr_behavior.maxVelocity;
      if(fabs(p->vel - p->vel_prev_big) > 0.5)
        p->vel_prev_big = p->vel;
      p->indicator = FromIndicatorToNumber(curr_behavior.indicator);
//      if(p->indicator == 0)
//        std::cout << ", Off";
//      else if(p->indicator == 1)
//        std::cout << ", Left";
//      else if(p->indicator == 2)
//        std::cout << ", Right";

      if(curr_behavior.state == PlannerHNS::STOPPING_STATE && p->beh == PlannerHNS::BEH_YIELDING_STATE)
        p->vel += 1;
      else if(p->beh == PlannerHNS::BEH_YIELDING_STATE)
        p->vel = p->vel/2.0;
      else if(curr_behavior.state != PlannerHNS::STOPPING_STATE && p->beh == PlannerHNS::BEH_STOPPING_STATE)
        p->vel += 1;
      else if(p->beh == PlannerHNS::BEH_STOPPING_STATE)
      {
        p->vel = 0;
      }

      }
  }
  //std::cout << "End Motion Status ------ " << std::endl;
}

} /* namespace PlannerHNS */