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/* Author: Elizabeth Fudge */

#ifndef OMPL_BASE_SPACES_DISCRETE_STATE_SPACE_
#define OMPL_BASE_SPACES_DISCRETE_STATE_SPACE_

#include "ompl/base/StateSpace.h"

namespace ompl
{
    namespace base
    {
        /** \brief State space sampler for discrete states */
        class DiscreteStateSampler : public StateSampler
        {
        public:
            /** \brief Constructor */
            DiscreteStateSampler(const StateSpace *space) : StateSampler(space)
            {
            }

            void sampleUniform(State *state) override;
            void sampleUniformNear(State *state, const State *near, const double distance) override;
            void sampleGaussian(State *state, const State *mean, const double stdDev) override;
        };

        /** \brief A space representing discrete states; i.e. there
            are a small number of discrete states the system can be in.
            States are represented as integers [lowerBound, upperBound],
            where lowerBound and upperBound are inclusive.
            States do not wrap around; i.e. the distance between state
            lowerBound and state upperBound is upperBound-lowerBound.
            The dimension of the space is 1. */
        class DiscreteStateSpace : public StateSpace
        {
        public:
            /** \brief The definition of a discrete state */
            class StateType : public State
            {
            public:
                /** \brief The current state - an int in range [lowerBound, upperBound] */
                int value;
            };

            /** \brief Construct a discrete space in wich states can take values in the set [\e lowerBound, \e
             * upperBound] */
            DiscreteStateSpace(int lowerBound, int upperBound)
              : StateSpace(), lowerBound_(lowerBound), upperBound_(upperBound)
            {
                setName("Discrete" + getName());
                type_ = STATE_SPACE_DISCRETE;
            }

            ~DiscreteStateSpace() override = default;

            bool isDiscrete() const override;

            unsigned int getDimension() const override;

            double getMaximumExtent() const override;

            double getMeasure() const override;

            void enforceBounds(State *state) const override;

            bool satisfiesBounds(const State *state) const override;

            unsigned int getSerializationLength() const override;

            void serialize(void *serialization, const State *state) const override;

            void deserialize(State *state, const void *serialization) const override;

            void copyState(State *destination, const State *source) const override;

            double distance(const State *state1, const State *state2) const override;

            bool equalStates(const State *state1, const State *state2) const override;

            void interpolate(const State *from, const State *to, const double t, State *state) const override;

            StateSamplerPtr allocDefaultStateSampler() const override;

            State *allocState() const override;

            void freeState(State *state) const override;

            void printState(const State *state, std::ostream &out) const override;

            void printSettings(std::ostream &out) const override;

            void registerProjections() override;

            /** \brief Returns the number of states possible */
            unsigned int getStateCount() const
            {
                return upperBound_ - lowerBound_ + 1;
            }

            /** \brief Returns the lowest possible state */
            int getLowerBound() const
            {
                return lowerBound_;
            }

            /** \brief Returns the highest possible state */
            int getUpperBound() const
            {
                return upperBound_;
            }

            /** \brief Set the bounds for the states in this space (the states will be in the set [\e lowerBound, \e
             * upperBound] */
            void setBounds(int lowerBound, int upperBound)
            {
                lowerBound_ = lowerBound;
                upperBound_ = upperBound;
            }

            void setup() override;

        protected:
            /** \brief The lowest integer state */
            int lowerBound_;

            /** \brief The highest integer state */
            int upperBound_;
        };
    }
}

#endif
