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/* Author: Mark Moll */

#ifndef OMPL_BASE_SPACES_REEDS_SHEPP_STATE_SPACE_
#define OMPL_BASE_SPACES_REEDS_SHEPP_STATE_SPACE_

#include "ompl/base/spaces/SE2StateSpace.h"
#include "ompl/base/MotionValidator.h"
#include <boost/math/constants/constants.hpp>

namespace ompl
{
    namespace base
    {

        /** \brief An SE(2) state space where distance is measured by the
            length of Reeds-Shepp curves.

            The notation and solutions are taken from:
            J.A. Reeds and L.A. Shepp, “Optimal paths for a car that goes both
            forwards and backwards,” Pacific Journal of Mathematics,
            145(2):367–393, 1990.

            This implementation explicitly computes all 48 Reeds-Shepp curves
            and returns the shortest valid solution. This can be improved by
            using the configuration space partition described in:
            P. Souères and J.-P. Laumond, “Shortest paths synthesis for a
            car-like robot,” IEEE Trans. on Automatic Control, 41(5):672–688,
            May 1996.
            */
        class ReedsSheppStateSpace : public SE2StateSpace
        {
        public:

            /** \brief The Reeds-Shepp path segment types */
            enum ReedsSheppPathSegmentType { RS_NOP=0, RS_LEFT=1, RS_STRAIGHT=2, RS_RIGHT=3 };
            /** \brief Reeds-Shepp path types */
            static const ReedsSheppPathSegmentType reedsSheppPathType[18][5];
            /** \brief Complete description of a ReedsShepp path */
            class ReedsSheppPath
            {
            public:
                ReedsSheppPath(const ReedsSheppPathSegmentType* type=reedsSheppPathType[0],
                    double t=std::numeric_limits<double>::max(), double u=0., double v=0.,
                    double w=0., double x=0.);
                double length() const { return totalLength_; }

                /** Path segment types */
                const ReedsSheppPathSegmentType* type_;
                /** Path segment lengths */
                double length_[5];
                /** Total length */
                double totalLength_;
            };

            ReedsSheppStateSpace(double turningRadius = 1.0)
                : SE2StateSpace(), rho_(turningRadius)
            {
            }

            virtual double distance(const State *state1, const State *state2) const;

            virtual void interpolate(const State *from, const State *to, const double t,
                State *state) const;
            virtual void interpolate(const State *from, const State *to, const double t,
                bool &firstTime, ReedsSheppPath &path, State *state) const;

            virtual void sanityChecks() const
            {
                double zero = std::numeric_limits<double>::epsilon();
                double eps = .1; // rarely such a large error will occur
                StateSpace::sanityChecks(zero, eps, ~STATESPACE_INTERPOLATION);
            }

            /** \brief Return the shortest Reeds-Shepp path from SE(2) state state1 to SE(2) state state2 */
            ReedsSheppPath reedsShepp(const State *state1, const State *state2) const;

        protected:
            virtual void interpolate(const State *from, const ReedsSheppPath &path, const double t,
                State *state) const;

            /** \brief Turning radius */
            double rho_;
        };

        /** \brief A Reeds-Shepp motion validator that only uses the state validity checker.
            Motions are checked for validity at a specified resolution.

            This motion validator is almost identical to the DiscreteMotionValidator
            except that it remembers the optimal ReedsSheppPath between different calls to
            interpolate. */
        class ReedsSheppMotionValidator : public MotionValidator
        {
        public:
            ReedsSheppMotionValidator(SpaceInformation *si) : MotionValidator(si)
            {
                defaultSettings();
            }
            ReedsSheppMotionValidator(const SpaceInformationPtr &si) : MotionValidator(si)
            {
                defaultSettings();
            }
            virtual ~ReedsSheppMotionValidator()
            {
            }
            virtual bool checkMotion(const State *s1, const State *s2) const;
            virtual bool checkMotion(const State *s1, const State *s2, std::pair<State*, double> &lastValid) const;
        private:
            ReedsSheppStateSpace *stateSpace_;
            void defaultSettings();
        };

    }
}

#endif
