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/* Author: Ioan Sucan */

#ifndef OMPL_BASE_SPACES_SE3_STATE_SPACE_
#define OMPL_BASE_SPACES_SE3_STATE_SPACE_

#include "ompl/base/StateSpace.h"
#include "ompl/base/spaces/RealVectorStateSpace.h"
#include "ompl/base/spaces/SO3StateSpace.h"

namespace ompl
{
    namespace base
    {

        /** \brief A state space representing SE(3) */
        class SE3StateSpace : public CompoundStateSpace
        {
        public:

            /** \brief A state in SE(3): position = (x, y, z), quaternion = (x, y, z, w) */
            class StateType : public CompoundStateSpace::StateType
            {
            public:
                StateType() : CompoundStateSpace::StateType()
                {
                }

                /** \brief Get the X component of the state */
                double getX() const
                {
                    return as<RealVectorStateSpace::StateType>(0)->values[0];
                }

                /** \brief Get the Y component of the state */
                double getY() const
                {
                    return as<RealVectorStateSpace::StateType>(0)->values[1];
                }

                /** \brief Get the Z component of the state */
                double getZ() const
                {
                    return as<RealVectorStateSpace::StateType>(0)->values[2];
                }

                /** \brief Get the rotation component of the state */
                const SO3StateSpace::StateType& rotation() const
                {
                    return *as<SO3StateSpace::StateType>(1);
                }

                /** \brief Get the rotation component of the state and allow changing it as well */
                SO3StateSpace::StateType& rotation()
                {
                    return *as<SO3StateSpace::StateType>(1);
                }

                /** \brief Set the X component of the state */
                void setX(double x)
                {
                    as<RealVectorStateSpace::StateType>(0)->values[0] = x;
                }

                /** \brief Set the Y component of the state */
                void setY(double y)
                {
                    as<RealVectorStateSpace::StateType>(0)->values[1] = y;
                }

                /** \brief Set the Z component of the state */
                void setZ(double z)
                {
                    as<RealVectorStateSpace::StateType>(0)->values[2] = z;
                }

                /** \brief Set the X, Y and Z components of the state */
                void setXYZ(double x, double y, double z)
                {
                    setX(x);
                    setY(y);
                    setZ(z);
                }

            };

            SE3StateSpace() : CompoundStateSpace()
            {
                setName("SE3" + getName());
                type_ = STATE_SPACE_SE3;
                addSubspace(StateSpacePtr(new RealVectorStateSpace(3)), 1.0);
                addSubspace(StateSpacePtr(new SO3StateSpace()), 1.0);
                lock();
            }

            virtual ~SE3StateSpace()
            {
            }

            /** \copydoc RealVectorStateSpace::setBounds() */
            void setBounds(const RealVectorBounds &bounds)
            {
                as<RealVectorStateSpace>(0)->setBounds(bounds);
            }

            /** \copydoc RealVectorStateSpace::getBounds() */
            const RealVectorBounds& getBounds() const
            {
                return as<RealVectorStateSpace>(0)->getBounds();
            }

            virtual State* allocState() const;
            virtual void freeState(State *state) const;

            virtual void registerProjections();
        };
    }
}

#endif
