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/* Author: Matt Maly */

#ifndef OMPL_CONTROL_PLANNERS_LTL_LTLSPACEINFORMATION_
#define OMPL_CONTROL_PLANNERS_LTL_LTLSPACEINFORMATION_

#include "ompl/base/spaces/DiscreteStateSpace.h"
#include "ompl/control/SpaceInformation.h"
#include "ompl/control/planners/ltl/ProductGraph.h"

namespace ompl
{
    namespace control
    {
        /// @cond IGNORE
        /** \brief Forward declaration of ompl::control::LTLSpaceInformation */
        OMPL_CLASS_FORWARD(LTLSpaceInformation);
        /// @endcond

        /** \class ompl::control::LTLSpaceInformationPtr
            \brief A boost shared pointer wrapper for ompl::control::LTLSpaceInformation */
        class LTLSpaceInformation : public SpaceInformation
        {
        public:
            LTLSpaceInformation(const SpaceInformationPtr& si, const ProductGraphPtr& prod);

            virtual ~LTLSpaceInformation(void) {}

            virtual void setup(void);

            const ProductGraphPtr& getProductGraph(void) const { return prod_; }

            const SpaceInformationPtr& getLowSpace() { return lowSpace_; }

            void getFullState(const base::State* low, base::State* full);

            base::State* getLowLevelState(base::State* s);
            const base::State* getLowLevelState(const base::State* s);

            ProductGraph::State* getProdGraphState(const base::State* s) const;

        protected:
            enum SpaceIndex { LOW_LEVEL = 0, REGION = 1, COSAFE = 2, SAFE = 3 };
            // Creates a new state propagator which uses the user-defined propagator
            // defined in low state space, followed by automaton-defined transition rules
            // for the co-safe and safe automata in prod.
            void extendPropagator(const SpaceInformationPtr& oldsi);

            // Creates a new state validity checker which uses the user-defined validity checker
            // defined in low state space and also checks for valid states in the automata in prod.
            void extendValidityChecker(const SpaceInformationPtr& oldsi);

            ProductGraphPtr prod_;
            SpaceInformationPtr lowSpace_;
        };
    }
}

#endif
