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/* Author: Ioan Sucan */

#ifndef OMPL_BASE_SPACES_SE2_STATE_SPACE_
#define OMPL_BASE_SPACES_SE2_STATE_SPACE_

#include "ompl/base/StateSpace.h"
#include "ompl/base/spaces/RealVectorStateSpace.h"
#include "ompl/base/spaces/SO2StateSpace.h"

namespace ompl
{
    namespace base
    {
        /** \brief A state space representing SE(2) */
        class SE2StateSpace : public CompoundStateSpace
        {
        public:
            /** \brief A state in SE(2): (x, y, yaw) */
            class StateType : public CompoundStateSpace::StateType
            {
            public:
                StateType() : CompoundStateSpace::StateType()
                {
                }

                /** \brief Get the X component of the state */
                double getX() const
                {
                    return as<RealVectorStateSpace::StateType>(0)->values[0];
                }

                /** \brief Get the Y component of the state */
                double getY() const
                {
                    return as<RealVectorStateSpace::StateType>(0)->values[1];
                }

                /** \brief Get the yaw component of the state. This is
                    the rotation in plane, with respect to the Z
                    axis. */
                double getYaw() const
                {
                    return as<SO2StateSpace::StateType>(1)->value;
                }

                /** \brief Set the X component of the state */
                void setX(double x)
                {
                    as<RealVectorStateSpace::StateType>(0)->values[0] = x;
                }

                /** \brief Set the Y component of the state */
                void setY(double y)
                {
                    as<RealVectorStateSpace::StateType>(0)->values[1] = y;
                }

                /** \brief Set the X and Y components of the state */
                void setXY(double x, double y)
                {
                    setX(x);
                    setY(y);
                }

                /** \brief Set the yaw component of the state. This is
                    the rotation in plane, with respect to the Z
                    axis. */
                void setYaw(double yaw)
                {
                    as<SO2StateSpace::StateType>(1)->value = yaw;
                }
            };

            SE2StateSpace() : CompoundStateSpace()
            {
                setName("SE2" + getName());
                type_ = STATE_SPACE_SE2;
                addSubspace(std::make_shared<RealVectorStateSpace>(2), 1.0);
                addSubspace(std::make_shared<SO2StateSpace>(), 0.5);
                lock();
            }

            ~SE2StateSpace() override = default;

            /** \copydoc RealVectorStateSpace::setBounds() */
            void setBounds(const RealVectorBounds &bounds)
            {
                as<RealVectorStateSpace>(0)->setBounds(bounds);
            }

            /** \copydoc RealVectorStateSpace::getBounds() */
            const RealVectorBounds &getBounds() const
            {
                return as<RealVectorStateSpace>(0)->getBounds();
            }

            State *allocState() const override;
            void freeState(State *state) const override;

            void registerProjections() override;
        };
    }
}

#endif
