static double rewardF(double x, double y, MotorPlan mp) {
	//System.out.print("PAR :"+m.lastpar+"   MER:"+m.lastmer);
	//if (1<2) return  
	//	     (2./XBIN)*(2./YBIN)*(Gaussian(VAR,-0.5,-0.5,x,y) +
	//	     				 Gaussian(VAR, 0.5, 0.5,x,y) )/2;
	if (1==1) return asym(x,y); //(2./XBIN)*(2./YBIN)*Gaussian(VAR,-0.5,-0.5,x,y);

	if (mp.offsetPOPIX==0) {
	    //////////////////////System.out.print("O");
	    return disk(x,y);
        } else if (mp.offsetPOPIX==1) {
	    return xor(x,y);
	} else if (mp.offsetPOPIX==-2) {
	    return tri(x,y);
	} else if (mp.offsetPOPIX==-3) {
	    return torus(x,y);
	} else if (mp.offsetPOPIX==-4) {
	    return diag(x,y);
	} else if (mp.offsetPOPIX==-5) { 
	    return gaussian(x,y);
	} else return -1; 

	    //////////////////////System.out.print("X");
	    //return tri(x,y);
	    //return diag(x,y);
	    //return disk(x,y);
	    //return torus(x,y);
	    //return xor(x,y);
	    //return gaussian(x,y);
	
    }