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  /* Author: Ioan Sucan */
  
  #include "ompl/base/spaces/RealVectorStateProjections.h"
  #include "ompl/util/Exception.h"
  #include "ompl/tools/config/MagicConstants.h"
  #include <cstring>
  #include <utility>
  
  /// @cond IGNORE
  namespace ompl
  {
      namespace base
      {
          static inline void checkSpaceType(const StateSpace *m)
          {
              if (!dynamic_cast<const RealVectorStateSpace *>(m))
                  throw Exception("Expected real vector state space for projection");
          }
      }
  }
  /// @endcond
  
  ompl::base::RealVectorLinearProjectionEvaluator::RealVectorLinearProjectionEvaluator(
      const StateSpace *space, const std::vector<double> &cellSizes, const ProjectionMatrix::Matrix &projection)
    : ProjectionEvaluator(space)
  {
      checkSpaceType(space_);
      projection_.mat = projection;
      setCellSizes(cellSizes);
  }
  
  ompl::base::RealVectorLinearProjectionEvaluator::RealVectorLinearProjectionEvaluator(
      const StateSpacePtr &space, const std::vector<double> &cellSizes, const ProjectionMatrix::Matrix &projection)
    : ProjectionEvaluator(space)
  {
      checkSpaceType(space_);
      projection_.mat = projection;
      setCellSizes(cellSizes);
  }
  
  ompl::base::RealVectorLinearProjectionEvaluator::RealVectorLinearProjectionEvaluator(
      const StateSpace *space, const ProjectionMatrix::Matrix &projection)
    : ProjectionEvaluator(space)
  {
      checkSpaceType(space_);
      projection_.mat = projection;
  }
  
  ompl::base::RealVectorLinearProjectionEvaluator::RealVectorLinearProjectionEvaluator(
      const StateSpacePtr &space, const ProjectionMatrix::Matrix &projection)
    : ProjectionEvaluator(space)
  {
      checkSpaceType(space_);
      projection_.mat = projection;
  }
  
  ompl::base::RealVectorOrthogonalProjectionEvaluator::RealVectorOrthogonalProjectionEvaluator(
      const StateSpace *space, const std::vector<double> &cellSizes, std::vector<unsigned int> components)
    : ProjectionEvaluator(space), components_(std::move(components))
  {
      checkSpaceType(space_);
      setCellSizes(cellSizes);
      copyBounds();
  }
  
  ompl::base::RealVectorOrthogonalProjectionEvaluator::RealVectorOrthogonalProjectionEvaluator(
      const StateSpacePtr &space, const std::vector<double> &cellSizes, std::vector<unsigned int> components)
    : ProjectionEvaluator(space), components_(std::move(components))
  {
      checkSpaceType(space_);
      setCellSizes(cellSizes);
      copyBounds();
  }
  
  ompl::base::RealVectorOrthogonalProjectionEvaluator::RealVectorOrthogonalProjectionEvaluator(
      const StateSpace *space, std::vector<unsigned int> components)
    : ProjectionEvaluator(space), components_(std::move(components))
  {
      checkSpaceType(space_);
  }
  
  ompl::base::RealVectorOrthogonalProjectionEvaluator::RealVectorOrthogonalProjectionEvaluator(
      const StateSpacePtr &space, std::vector<unsigned int> components)
    : ProjectionEvaluator(space), components_(std::move(components))
  {
      checkSpaceType(space_);
  }
  
  void ompl::base::RealVectorOrthogonalProjectionEvaluator::copyBounds()
  {
      bounds_.resize(components_.size());
      const RealVectorBounds &bounds = space_->as<RealVectorStateSpace>()->getBounds();
      for (unsigned int i = 0; i < components_.size(); ++i)
      {
          bounds_.low[i] = bounds.low[components_[i]];
          bounds_.high[i] = bounds.high[components_[i]];
      }
  }
  
  void ompl::base::RealVectorOrthogonalProjectionEvaluator::defaultCellSizes()
  {
      const RealVectorBounds &bounds = space_->as<RealVectorStateSpace>()->getBounds();
      bounds_.resize(components_.size());
      cellSizes_.resize(components_.size());
      for (unsigned int i = 0; i < cellSizes_.size(); ++i)
      {
          bounds_.low[i] = bounds.low[components_[i]];
          bounds_.high[i] = bounds.high[components_[i]];
          cellSizes_[i] = (bounds_.high[i] - bounds_.low[i]) / magic::PROJECTION_DIMENSION_SPLITS;
      }
  }
  
  unsigned int ompl::base::RealVectorLinearProjectionEvaluator::getDimension() const
  {
      return projection_.mat.size1();
  }
  
  void ompl::base::RealVectorLinearProjectionEvaluator::project(const State *state, EuclideanProjection &projection) const
  {
      projection_.project(state->as<RealVectorStateSpace::StateType>()->values, projection);
  }
  
  unsigned int ompl::base::RealVectorOrthogonalProjectionEvaluator::getDimension() const
  {
      return components_.size();
  }
  
  void ompl::base::RealVectorOrthogonalProjectionEvaluator::project(const State *state,
                                                                    EuclideanProjection &projection) const
  {
      for (unsigned int i = 0; i < components_.size(); ++i)
          projection(i) = state->as<RealVectorStateSpace::StateType>()->values[components_[i]];
  }
  
  ompl::base::RealVectorIdentityProjectionEvaluator::RealVectorIdentityProjectionEvaluator(
      const StateSpace *space, const std::vector<double> &cellSizes)
    : ProjectionEvaluator(space)
  {
      checkSpaceType(space_);
      setCellSizes(cellSizes);
      copyBounds();
  }
  
  ompl::base::RealVectorIdentityProjectionEvaluator::RealVectorIdentityProjectionEvaluator(const StateSpace *space)
    : ProjectionEvaluator(space)
  {
      checkSpaceType(space_);
  }
  
  ompl::base::RealVectorIdentityProjectionEvaluator::RealVectorIdentityProjectionEvaluator(
      const StateSpacePtr &space, const std::vector<double> &cellSizes)
    : ProjectionEvaluator(space)
  {
      checkSpaceType(space_);
      setCellSizes(cellSizes);
      copyBounds();
  }
  
  ompl::base::RealVectorIdentityProjectionEvaluator::RealVectorIdentityProjectionEvaluator(const StateSpacePtr &space)
    : ProjectionEvaluator(space)
  {
      checkSpaceType(space_);
  }
  
  void ompl::base::RealVectorIdentityProjectionEvaluator::copyBounds()
  {
      bounds_ = space_->as<RealVectorStateSpace>()->getBounds();
  }
  
  void ompl::base::RealVectorIdentityProjectionEvaluator::defaultCellSizes()
  {
      bounds_ = space_->as<RealVectorStateSpace>()->getBounds();
      cellSizes_.resize(getDimension());
      for (unsigned int i = 0; i < cellSizes_.size(); ++i)
          cellSizes_[i] = (bounds_.high[i] - bounds_.low[i]) / magic::PROJECTION_DIMENSION_SPLITS;
  }
  
  void ompl::base::RealVectorIdentityProjectionEvaluator::setup()
  {
      copySize_ = getDimension() * sizeof(double);
      ProjectionEvaluator::setup();
  }
  
  unsigned int ompl::base::RealVectorIdentityProjectionEvaluator::getDimension() const
  {
      return space_->getDimension();
  }
  
  void ompl::base::RealVectorIdentityProjectionEvaluator::project(const State *state,
                                                                  EuclideanProjection &projection) const
  {
      memcpy(&projection(0), state->as<RealVectorStateSpace::StateType>()->values, copySize_);
  }
  