//
// Copyright (c) 2017 CNRS
// Authors: Florent Lamiraux
//

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
// DAMAGE.

#ifndef HPP_CORE_STEERING_METHOD_DUBINS_HH
#define HPP_CORE_STEERING_METHOD_DUBINS_HH

#include <hpp/core/config.hh>
#include <hpp/core/fwd.hh>
#include <hpp/core/steering-method/car-like.hh>
#include <hpp/core/steering-method/fwd.hh>
#include <hpp/util/debug.hh>
#include <hpp/util/pointer.hh>

namespace hpp {
namespace core {
namespace steeringMethod {
/// \addtogroup steering_method
/// \{

/// Steering method that creates DubinsPath instances
///
class HPP_CORE_DLLAPI Dubins : public CarLike {
 public:
  /// Create an instance
  ///
  /// This constructor assumes that:
  /// - the 2 parameters of the configurations corresponds to the XY
  ///   translation joint,
  /// - the 2 following parameters corresponds to the RZ unbounded
  ///   rotation joint.
  /// Use CarLike::setWheelJoints to set the wheel joints.
  static DubinsPtr_t createWithGuess(const ProblemConstPtr_t& problem) {
    Dubins* ptr = new Dubins(problem);
    DubinsPtr_t shPtr(ptr);
    ptr->init(shPtr);
    return shPtr;
  }

  /// Create an instance
  ///
  /// This constructor does no assumption.
  static DubinsPtr_t create(
      const ProblemConstPtr_t& problem, const value_type turningRadius,
      JointPtr_t xyJoint, JointPtr_t rzJoint,
      std::vector<JointPtr_t> wheels = std::vector<JointPtr_t>()) {
    Dubins* ptr = new Dubins(problem, turningRadius, xyJoint, rzJoint, wheels);
    DubinsPtr_t shPtr(ptr);
    ptr->init(shPtr);
    return shPtr;
  }

  /// Copy instance and return shared pointer
  static DubinsPtr_t createCopy(const DubinsPtr_t& other) {
    Dubins* ptr = new Dubins(*other);
    DubinsPtr_t shPtr(ptr);
    ptr->init(shPtr);
    return shPtr;
  }

  /// Copy instance and return shared pointer
  virtual SteeringMethodPtr_t copy() const { return createCopy(weak_.lock()); }

  /// create a path between two configurations
  virtual PathPtr_t impl_compute(ConfigurationIn_t q1,
                                 ConfigurationIn_t q2) const;

 protected:
  /// Constructor
  Dubins(const ProblemConstPtr_t& problem);

  /// Constructor
  Dubins(const ProblemConstPtr_t& problem, const value_type turningRadius,
         JointPtr_t xyJoint, JointPtr_t rzJoint,
         std::vector<JointPtr_t> wheels);

  /// Copy constructor
  Dubins(const Dubins& other);

  /// Store weak pointer to itself
  void init(DubinsWkPtr_t weak) {
    CarLike::init(weak);
    weak_ = weak;
  }

 private:
  DubinsWkPtr_t weak_;
};  // Dubins
/// \}
}  // namespace steeringMethod
}  // namespace core
}  // namespace hpp
#endif  // HPP_CORE_STEERING_METHOD_DUBINS_HH
