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/* Author: Beck Chen, Mark Moll */

#include "KoulesSetup.h"
#include "KoulesGoal.h"
#include "KoulesStateSpace.h"
#include "KoulesControlSpace.h"
#include "KoulesStatePropagator.h"
#include "KoulesDirectedControlSampler.h"
#include <ompl/base/spaces/RealVectorStateSpace.h>
#include <ompl/control/planners/rrt/RRT.h>
#include <ompl/control/planners/kpiece/KPIECE1.h>
#include <ompl/control/planners/est/EST.h>
#include <ompl/control/planners/pdst/PDST.h>

namespace ob = ompl::base;
namespace oc = ompl::control;

/// @cond IGNORE
class KoulesStateValidityChecker : public ompl::base::StateValidityChecker
{
public:
    KoulesStateValidityChecker(const ompl::base::SpaceInformationPtr &si) : ompl::base::StateValidityChecker(si)
    {
    }

    bool isValid(const ob::State *state) const override
    {
        return si_->satisfiesBounds(state);
    }
};
/// @endcond

ompl::control::DirectedControlSamplerPtr KoulesDirectedControlSamplerAllocator(
    const ompl::control::SpaceInformation *si, const ompl::base::GoalPtr &goal, bool propagateMax)
{
    return std::make_shared<KoulesDirectedControlSampler>(si, goal, propagateMax);
}


KoulesSetup::KoulesSetup(unsigned int numKoules, const std::string& plannerName,
    const std::vector<double>& stateVec)
    : ompl::control::SimpleSetup(std::make_shared<KoulesControlSpace>(numKoules))
{
    initialize(numKoules, plannerName, stateVec);
}

KoulesSetup::KoulesSetup(unsigned int numKoules, const std::string& plannerName, double kouleVel)
    : ompl::control::SimpleSetup(std::make_shared<KoulesControlSpace>(numKoules))
{
    initialize(numKoules, plannerName);
    double* state = getProblemDefinition()->getStartState(0)->as<KoulesStateSpace::StateType>()->values;
    double theta;
    ompl::RNG rng;
    for (unsigned int i = 0; i < numKoules; ++i)
    {
        theta = rng.uniformReal(0., 2. * boost::math::constants::pi<double>());
        state[4 * i + 7] = kouleVel * cos(theta);
        state[4 * i + 8] = kouleVel * sin(theta);
    }
}

void KoulesSetup::initialize(unsigned int numKoules, const std::string& plannerName,
    const std::vector<double>& stateVec)
{
    const ob::StateSpacePtr& space = getStateSpace();
    space->setup();
    // setup start state
    ob::ScopedState<> start(space);
    if (stateVec.size() == space->getDimension())
        space->copyFromReals(start.get(), stateVec);
    else
    {
        // Pick koule positions evenly radially distributed, but at a linearly
        // increasing distance from the center. The ship's initial position is
        // at the center. Initial velocities are 0.
        std::vector<double> startVec(space->getDimension(), 0.);
        double r, theta = boost::math::constants::pi<double>(), delta = 2.*theta / numKoules;
        startVec[0] = .5 * sideLength;
        startVec[1] = .5 * sideLength;
        startVec[4] = .5 * delta;
        for (unsigned int i = 0; i < numKoules; ++i, theta += delta)
        {
            r = .1 + i * .1 / numKoules;
            startVec[4 * i + 5] = .5 * sideLength + r * cos(theta);
            startVec[4 * i + 6] = .5 * sideLength + r * sin(theta);
        }
        space->copyFromReals(start.get(), startVec);
    }
    setStartState(start);
    // set goal
    setGoal(std::make_shared<KoulesGoal>(si_));
    // set propagation step size
    si_->setPropagationStepSize(propagationStepSize);
    // set min/max propagation steps
    si_->setMinMaxControlDuration(propagationMinSteps, propagationMaxSteps);
    // set directed control sampler; when using the PDST planner, propagate as long as possible
    bool isPDST = plannerName == "pdst";
    const ompl::base::GoalPtr& goal = getGoal();
    si_->setDirectedControlSamplerAllocator(
        [&goal, isPDST](const ompl::control::SpaceInformation *si)
        {
            return KoulesDirectedControlSamplerAllocator(si,  goal, isPDST);
        });
    // set planner
    setPlanner(getConfiguredPlannerInstance(plannerName));
    // set validity checker
    setStateValidityChecker(std::make_shared<KoulesStateValidityChecker>(si_));
    // set state propagator
    setStatePropagator(std::make_shared<KoulesStatePropagator>(si_));
}

ob::PlannerPtr KoulesSetup::getConfiguredPlannerInstance(const std::string& plannerName)
{
    if (plannerName == "rrt")
    {
        auto rrtplanner(std::make_shared<oc::RRT>(si_));
        rrtplanner->setIntermediateStates(true);
        return rrtplanner;
    }
    else if (plannerName == "est")
        return std::make_shared<oc::EST>(si_);
    else if (plannerName == "kpiece")
        return std::make_shared<oc::KPIECE1>(si_);
    else
    {
        auto pdstplanner(std::make_shared<oc::PDST>(si_));
        pdstplanner->setProjectionEvaluator(
            si_->getStateSpace()->getProjection("PDSTProjection"));
        return pdstplanner;
    }
}
