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/* Author: Caleb Voss */

#include "ompl/extensions/morse/MorseStatePropagator.h"
#include "ompl/control/spaces/RealVectorControlSpace.h"
#include "ompl/extensions/morse/MorseStateSpace.h"
#include "ompl/util/Exception.h"

ompl::control::MorseStatePropagator::MorseStatePropagator(const SpaceInformationPtr &si) : StatePropagator(si)
{
    if (base::MorseStateSpace *mss = dynamic_cast<base::MorseStateSpace *>(si->getStateSpace().get()))
        env_ = mss->getEnvironment();
    else
        throw Exception("MORSE State Space needed for MorseStatePropagator");
}

void ompl::control::MorseStatePropagator::propagate(const base::State *state, const Control *control,
                                                    const double duration, base::State *result) const
{
    std::lock_guard<std::mutex> lock(env_->mutex_);

    // place the MORSE world at the start state
    si_->getStateSpace()->as<base::MorseStateSpace>()->writeState(state);

    // convert control into vector of doubles
    std::vector<double> controlVec;
    const double *conVals = control->as<RealVectorControlSpace::ControlType>()->values;
    for (unsigned int i = 0; i < env_->controlDim_; i++)
        controlVec.push_back(conVals[i]);

    // apply the controls
    env_->applyControl(controlVec);

    // propagate one step forward
    env_->worldStep(duration);

    // read the final state from the MORSE world
    si_->getStateSpace()->as<base::MorseStateSpace>()->readState(result);
}

bool ompl::control::MorseStatePropagator::canPropagateBackward() const
{
    return false;
}
