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/* Authors: Ioan Sucan, Caleb Voss */

#ifndef OMPL_EXTENSION_MORSE_STATE_PROPAGATOR_
#define OMPL_EXTENSION_MORSE_STATE_PROPAGATOR_

#include "ompl/control/SpaceInformation.h"
#include "ompl/extensions/morse/MorseEnvironment.h"

namespace ompl
{
    namespace control
    {
        /** \brief State propagation with MORSE. Only forward
            propagation is possible.

            At every propagation step, controls are applied using
            MorseEnvironment::applyControl(), and then \b worldStep()
            is called.*/
        class MorseStatePropagator : public StatePropagator
        {
        public:
            /** \brief Construct representation of a MORSE state propagator.
                If \e si->getStateSpace() does not cast to a
                MorseStateSpace, an exception is thrown. */
            MorseStatePropagator(const SpaceInformationPtr &si);

            virtual ~MorseStatePropagator()
            {
            }

            /** \brief Get the MORSE environment this state propagator operates on */
            const base::MorseEnvironmentPtr &getEnvironment() const
            {
                return env_;
            }

            /** \brief Will always return false, as the simulation can only proceed forward in time */
            virtual bool canPropagateBackward() const;

            /** \brief Propagate from a state, under a given control, for some specified amount of time */
            virtual void propagate(const base::State *state, const Control *control, const double duration,
                                   base::State *result) const;

        protected:
            /** \brief The MORSE environment this state propagator operates on */
            base::MorseEnvironmentPtr env_;
        };
    }
}

#endif
