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/* Author: Ioan Sucan */

#ifndef OMPL_TEST_2DCIRCLES_SETUP_
#define OMPL_TEST_2DCIRCLES_SETUP_

#include <boost/filesystem.hpp>

#include "ompl/base/SpaceInformation.h"
#include "ompl/base/spaces/RealVectorStateSpace.h"

#include "../../resources/config.h"
#include "../../resources/circles2D.h"

namespace ompl
{
    namespace geometric
    {

        class StateValidityChecker2DCircles : public base::StateValidityChecker
        {
        public:

            StateValidityChecker2DCircles(const base::SpaceInformationPtr &si, const Circles2D &circles) :
                base::StateValidityChecker(si),
                circles_(circles)
            {
            }

            virtual bool isValid(const base::State *state) const
            {
                const double *xy = state->as<base::RealVectorStateSpace::StateType>()->values;
                return circles_.noOverlap(xy[0], xy[1]);
            }

        private:
            const Circles2D circles_;
        };

        static base::SpaceInformationPtr spaceInformation2DCircles(const Circles2D &circles)
        {
            auto space(std::make_shared<base::RealVectorStateSpace>());
            space->addDimension(circles.minX_, circles.maxX_);
            space->addDimension(circles.minY_, circles.maxY_);
            auto si(std::make_shared<base::SpaceInformation>(space));
            si->setStateValidityChecker(
                std::make_shared<StateValidityChecker2DCircles>(si, circles));
            si->setStateValidityCheckingResolution(0.002);
            si->setup();
            return si;
        }


    }
}

#endif
