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/* Author: Dave Coleman
   Desc:   Compute Dynamic Time Warping
*/

#ifndef OMPL_TOOLS_LIGHTNING_DYNAMIC_TIME_WARP_
#define OMPL_TOOLS_LIGHTNING_DYNAMIC_TIME_WARP_

#include <ompl/geometric/PathGeometric.h>
#include <ompl/base/SpaceInformation.h>

#include <boost/numeric/ublas/matrix.hpp>

namespace ompl
{
namespace tools
{

namespace og = ompl::geometric;

/// @cond IGNORE
OMPL_CLASS_FORWARD(DynamicTimeWarp);
/// @endcond

/** \class ompl::geometric::DynamicTimeWarpPtr
    \brief A boost shared pointer wrapper for ompl::tools::DynamicTimeWarp */

class DynamicTimeWarp
{
public:
    explicit DynamicTimeWarp(const base::SpaceInformationPtr &si);

    /**
     * \brief Use Dynamic Timewarping to score two paths
     * \param path1
     * \param path2
     * \return score
     */
    double calcDTWDistance(const og::PathGeometric &path1, const og::PathGeometric &path2) const;

    /**
     * \brief Use dynamic time warping to compare the similarity of two paths
     *        Note: this will interpolate both of the paths and it returns the change by reference
     *        Note: before calling this function you might want to reverse one of the paths so that their
     *        start and goals are property aligned (and match better)
     * \param path1
     * \param path2
     * \return score
     */
    double getPathsScore(const og::PathGeometric &path1, const og::PathGeometric &path2) const;

private:

    /** \brief The created space information */
    base::SpaceInformationPtr     si_;

    /** \brief Distance matrix */
    mutable boost::numeric::ublas::matrix<double> table_;

}; // end of class

} // namespace
} // namespace

#endif
