#ifndef _CommonDefs_h_
#define _CommonDefs_h_

#ifndef PI
#define PI 3.14159265358979
#endif

#ifndef SEARCH_X	//half search distance in X (in meters).
#define SEARCH_X 50
#endif

#ifndef SEARCH_Y	//half search distance in Y (in meters).
#define SEARCH_Y 50
#endif

#ifndef AVERAGE         //boolean indicating if measurements should be 
#define	AVERAGE 0       //averaged at a given time step
#endif                 

#ifndef HYP_RES
#define HYP_RES  0      //double indicating resolution of the hypothesis grid
#endif

#ifndef MEAS_BUFFER_SIZE     //indicates number of meausurements that can 
#define MEAS_BUFFER_SIZE 500  //be stored for inclusion.
#endif

#ifndef INS_DRIFT
#define INS_DRIFT 5   //percentage drift rate for the INS
#endif

#ifndef SIGMA_SONAR
#define SIGMA_SONAR 2   //variance of the sonar noise
#endif

#ifndef ESTIMATE_DEPTH     //boolean indicating if depth should be estimated
#define ESTIMATE_DEPTH 1
#endif

#ifndef USE_MOTION_BLUR    //boolean indicating if motion blur should be 
#define USE_MOTION_BLUR 1  //implemented for motion updates
#endif

#ifndef MOTION_BLUR_METHOD    //indicates method used for motion blurring:
#define MOTION_BLUR_METHOD 1 //1)Discrete Convolution, 2)FPE Explicit Diff.
#endif

#ifndef DEPTH_FILTER_LENGTH
#define DEPTH_FILTER_LENGTH 5 //indicates number of prev.  measurements used for 
#endif                         //depth bias calculation

#ifndef ENTROPY_CONVERGED     //entropy at which filter is considered 
#define ENTROPY_CONVERGED 0 //converged
#endif

#ifndef DEBUG       //boolean indicating if program should be run in debug mode
#define DEBUG 0    //debug mode involves intermediate plotting in Matlab
#endif

#endif