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/* Author: Ioan Sucan */

#ifndef OMPL_EXTENSION_OPENDE_STATE_PROPAGATOR_
#define OMPL_EXTENSION_OPENDE_STATE_PROPAGATOR_

#include "ompl/control/SpaceInformation.h"
#include "ompl/extensions/opende/OpenDEEnvironment.h"

namespace ompl
{

    namespace control
    {

        /** \brief State propagation with OpenDE. Only forward
            propagation is possible.

            At every propagation step, controls are applied using
            OpenDEEnvironment::applyControl(), contacts are computed by
            calling \b dSpaceCollide() on the spaces in
            OpenDEEnvironment::collisionSpaces_ and then \b
            dWorldQuickStep() is called. If the \e state argument of
            propagate() does not have its
            OpenDEStateSpace::StateType::collision field set, it is
            set based on the information returned by contact
            computation. Certain collisions (contacts) are allowed, as
            indicated by OpenDEEnvironment::isValidCollision(). */
        class OpenDEStatePropagator : public StatePropagator
        {
        public:

            /** \brief Construct a representation of OpenDE state propagator.
                If \e si->getStateSpace() does not cast to an
                OpenDEStateSpace, an exception is thrown. */
            OpenDEStatePropagator(const SpaceInformationPtr &si);

            virtual ~OpenDEStatePropagator()
            {
            }

            /** \brief Get the OpenDE environment this state propagator operates on */
            const OpenDEEnvironmentPtr& getEnvironment() const
            {
                return env_;
            }

            virtual bool canPropagateBackward() const;

            virtual void propagate(const base::State *state, const Control *control, const double duration, base::State *result) const;

        protected:

            /** \brief The OpenDE environment this state propagator operates on */
            OpenDEEnvironmentPtr env_;

        };
    }

}

#endif
