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/* Author: Ioan Sucan */

#include "ompl/base/goals/GoalStates.h"
#include "ompl/base/SpaceInformation.h"
#include "ompl/util/Exception.h"
#include <boost/lexical_cast.hpp>
#include <limits>

ompl::base::GoalStates::~GoalStates()
{
    freeMemory();
}

void ompl::base::GoalStates::clear()
{
    freeMemory();
    states_.clear();
}

void ompl::base::GoalStates::freeMemory()
{
    for (unsigned int i = 0 ; i < states_.size() ; ++i)
        si_->freeState(states_[i]);
}

double ompl::base::GoalStates::distanceGoal(const State *st) const
{
    double dist = std::numeric_limits<double>::infinity();
    for (unsigned int i = 0 ; i < states_.size() ; ++i)
    {
        double d = si_->distance(st, states_[i]);
        if (d < dist)
            dist = d;
    }
    return dist;
}

void ompl::base::GoalStates::print(std::ostream &out) const
{
    out << states_.size() << " goal states, threshold = " << threshold_ << ", memory address = " << this << std::endl;
    for (unsigned int i = 0 ; i < states_.size() ; ++i)
    {
        si_->printState(states_[i], out);
        out << std::endl;
    }
}

void ompl::base::GoalStates::sampleGoal(base::State *st) const
{
    if (states_.empty())
        throw Exception("There are no goals to sample");

    // Roll over the samplePosition_ if it points past the number of states.
    samplePosition_ = samplePosition_ % states_.size();
    // Get the next state.
    si_->copyState(st, states_[samplePosition_]);
    // Increment the counter. Do NOT roll over incase a new state is added before sampleGoal is called again.
    samplePosition_++;
}

unsigned int ompl::base::GoalStates::maxSampleCount() const
{
    return states_.size();
}

void ompl::base::GoalStates::addState(const State *st)
{
    states_.push_back(si_->cloneState(st));
}

void ompl::base::GoalStates::addState(const ScopedState<> &st)
{
    addState(st.get());
}

const ompl::base::State* ompl::base::GoalStates::getState(unsigned int index) const
{
    if (index >= states_.size())
        throw Exception("Index " + boost::lexical_cast<std::string>(index) + " out of range. Only " +
                        boost::lexical_cast<std::string>(states_.size()) + " states are available");
    return states_[index];
}

std::size_t ompl::base::GoalStates::getStateCount() const
{
    return states_.size();
}

bool ompl::base::GoalStates::hasStates() const
{
    return !states_.empty();
}
