// 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_agents;		// RL and evironmental parameters
double Dr,R_max;
double time_single_episode;
double pBP,pABP;
int Nt_single_episode;
int Nphi,Na,Ns,M,Nomegas;
double counter_initial_policy,counter_avg_policy,counter_single_policies;
double r_ini;


// arrays initialization
double * target_times;
double * initial_radii;
double * initial_thetas;
double ** H;
double ** Havg;
double * H2;
double * vBP;
double * vABP;
double ** visited_radii_initial_policy;
double ** visited_radii_avg_policy;
double ** visited_radii_single_policies;

// functions
void Dynamics_initial_policy(int i);
void Dynamics_avg_policy(int i);
void Dynamics_single_policies(int i);
void read_parameters();
void array_initialization();
void print_data ();
void print_target_times_initial_policy ();
void print_target_times_learned_policy ();
int rindex(double r);


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