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  /* Author: Ryan Luna */
  
  #ifndef PLANAR_MANIPULATOR_TSRRT_CONFIG_H_
  #define PLANAR_MANIPULATOR_TSRRT_CONFIG_H_
  
  #include "PlanarManipulator.h"
  
  #include <ompl/geometric/planners/rrt/TSRRT.h>
  #include <ompl/util/RandomNumbers.h>
  
  class PlanarManipTaskSpaceConfig : public ompl::geometric::TaskSpaceConfig
  {
  public:
      PlanarManipTaskSpaceConfig(const PlanarManipulator *manip, const ompl::base::RealVectorBounds &bounds)
        : manip_(manip), task_space_bounds_(bounds)
      {
      }
  
      virtual int getDimension() const
      {
          return 2;
      }
  
      virtual void project(const ompl::base::State *state, Eigen::Ref<Eigen::VectorXd> ts_proj) const
      {
          project(state->as<PlanarManipulatorStateSpace::StateType>()->values, ts_proj);
      }
  
      virtual void sample(Eigen::Ref<Eigen::VectorXd> ts_proj) const
      {
          // Sample point uniformly in task-space
          for (unsigned int dim = 0; dim < task_space_bounds_.low.size(); ++dim)
          {
              ts_proj[dim] = rng_.uniformReal(task_space_bounds_.low[dim], task_space_bounds_.high[dim]);
          }
      }
  
      // Given a point in task-space, generate a configuraton space state
      // that projects to this point.  seed is the nearest task-space neighbor.
      // Returns false if a lifted configuration could not be generated.
      virtual bool lift(const Eigen::Ref<Eigen::VectorXd> &ts_proj, const ompl::base::State *seed,
                        ompl::base::State *state) const
      {
          const PlanarManipulatorStateSpace::StateType *pm_seed = seed->as<PlanarManipulatorStateSpace::StateType>();
          std::vector<double> seed_angles(manip_->getNumLinks());
          for (unsigned int ix = 0; ix < seed_angles.size(); ++ix)
          {
              seed_angles[ix] = (*pm_seed)[ix];
          }
  
          // Allow any angle.
          Eigen::Affine2d end_frame(Eigen::Rotation2Dd(0.0) * Eigen::Translation2d(ts_proj[0], ts_proj[1]));
  
          std::vector<double> lifted_angles;
          if (!manip_->FABRIK(lifted_angles, seed_angles, end_frame, /*xyTol=*/1e-4,
                              /*thetaTol=*/2.0 * M_PI))
          {
              return false;
          }
  
          PlanarManipulatorStateSpace::StateType *pm_state = state->as<PlanarManipulatorStateSpace::StateType>();
          for (unsigned int ix = 0; ix < manip_->getNumLinks(); ++ix)
          {
              (*pm_state)[ix] = lifted_angles[ix];
          }
          return true;
      }
  
  private:
      // Forward kinematics to find the end-effector position (proj) in the task space.
      void project(const double *angles, Eigen::Ref<Eigen::VectorXd> proj) const
      {
          Eigen::Affine2d frame;
          manip_->FK(angles, frame);
          proj[0] = frame.translation()(0);
          proj[1] = frame.translation()(1);
      }
  
      const PlanarManipulator *manip_;
      const ompl::base::RealVectorBounds task_space_bounds_;
      mutable ompl::RNG rng_;
  };
  
  #endif
  