// system parameter
double L,tau,D; 			// units
double R_target;			// radius of the target
double dt;					// other parameters
double Pe,v,ell,D_theta,mu;	// ABP parameters
int N_runs,N_episodes;		// RL and evironmental parameters
double Dr,R_max;
int const_initial_policy;
double time_single_episode,reward,gammma,eta;
double pBP,pABP;
int Nt_single_episode;
int Nphi,Na,Ns,M,Nomegas;		
int Nep0_arrays,Nep_arrays,Nep_last;
double r_ini;


// arrays initialization
double ** target_times;
double ** initial_radii;
double ** initial_thetas;
double ** target_times_lastepisodes;
double ** initial_radii_lastepisodes;
double ** initial_thetas_lastepisodes;
double * avg_target_times;
double ** avg_target_times_rini;
int * number_targets;
int ** number_targets_rini;
double ** H;
double ** H0;
double ** G;
double ** Pvalues;
double ** Svalues;
double * avg_Pvalues;
double ** avg_Pvalues_episode;
double *** avg_Hvalues_episode;
double ** avg_state_action_values;
double ** avg_glow;
int ** changes_in_G;
double * v_factor1;
double * v_factor2;
double * v_factor3;
double * H2;
int *** visited_times;
double * vBP;
double * vABP;

// functions
void ProjectiveSimulationOptimized(int i);
void read_parameters();
void array_initialization();
void print_averages ();
void print_data ();
void print_initial_policy();
int rindex(double r);
int ep_index (int ep);


// to parallelize and restart
int k_bunch,N_runs0,N_episodes0;
double *** H_restart;
void read_H_restart();