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/* Author: Beck Chen, Mark Moll */

#ifndef DEMOS_KOULES_GOAL_
#define DEMOS_KOULES_GOAL_

#include <ompl/base/goals/GoalSampleableRegion.h>

// Sampleable goal region for KoulesModel.
class KoulesGoal : public ompl::base::GoalSampleableRegion
{
public:
    KoulesGoal(const ompl::base::SpaceInformationPtr &si)
        : ompl::base::GoalSampleableRegion(si), stateSampler_(si->allocStateSampler())
    {
        threshold_ = 0.01;
    }

    // number of "live" koules plus the shortest distance between any live koule and an edge
    virtual double distanceGoal(const ompl::base::State *st) const;
    // pick a random state where each koule is on the edge of the workspace
    virtual void sampleGoal(ompl::base::State *st) const;
    virtual unsigned int maxSampleCount() const
    {
        return std::numeric_limits<unsigned int>::max();
    }


private:
    mutable ompl::RNG rng_;
    ompl::base::StateSamplerPtr stateSampler_;
};

#endif
