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  /* Author: Matt Maly */
  
  #include "ompl/control/planners/syclop/SyclopEST.h"
  #include "ompl/base/goals/GoalSampleableRegion.h"
  
  void ompl::control::SyclopEST::setup()
  {
      Syclop::setup();
      sampler_ = si_->allocStateSampler();
      controlSampler_ = siC_->allocControlSampler();
      lastGoalMotion_ = nullptr;
  }
  
  void ompl::control::SyclopEST::clear()
  {
      Syclop::clear();
      freeMemory();
      motions_.clear();
      lastGoalMotion_ = nullptr;
  }
  
  void ompl::control::SyclopEST::getPlannerData(base::PlannerData &data) const
  {
      Planner::getPlannerData(data);
  
      double delta = siC_->getPropagationStepSize();
  
      if (lastGoalMotion_ != nullptr)
          data.addGoalVertex(lastGoalMotion_->state);
  
      for (auto motion : motions_)
      {
          if (motion->parent != nullptr)
          {
              if (data.hasControls())
                  data.addEdge(base::PlannerDataVertex(motion->parent->state), base::PlannerDataVertex(motion->state),
                               control::PlannerDataEdgeControl(motion->control, motion->steps * delta));
              else
                  data.addEdge(base::PlannerDataVertex(motion->parent->state), base::PlannerDataVertex(motion->state));
          }
          else
              data.addStartVertex(base::PlannerDataVertex(motion->state));
      }
  }
  
  ompl::control::Syclop::Motion *ompl::control::SyclopEST::addRoot(const base::State *s)
  {
      auto *motion = new Motion(siC_);
      si_->copyState(motion->state, s);
      siC_->nullControl(motion->control);
      motions_.push_back(motion);
      return motion;
  }
  
  void ompl::control::SyclopEST::selectAndExtend(Region &region, std::vector<Motion *> &newMotions)
  {
      Motion *treeMotion = region.motions[rng_.uniformInt(0, region.motions.size() - 1)];
      Control *rctrl = siC_->allocControl();
      base::State *newState = si_->allocState();
  
      controlSampler_->sample(rctrl, treeMotion->state);
      unsigned int duration =
          controlSampler_->sampleStepCount(siC_->getMinControlDuration(), siC_->getMaxControlDuration());
      duration = siC_->propagateWhileValid(treeMotion->state, rctrl, duration, newState);
  
      if (duration >= siC_->getMinControlDuration())
      {
          auto *motion = new Motion(siC_);
          si_->copyState(motion->state, newState);
          siC_->copyControl(motion->control, rctrl);
          motion->steps = duration;
          motion->parent = treeMotion;
          motions_.push_back(motion);
          newMotions.push_back(motion);
  
          lastGoalMotion_ = motion;
      }
  
      siC_->freeControl(rctrl);
      si_->freeState(newState);
  }
  
  void ompl::control::SyclopEST::freeMemory()
  {
      for (auto m : motions_)
      {
          if (m->state != nullptr)
              si_->freeState(m->state);
          if (m->control != nullptr)
              siC_->freeControl(m->control);
          delete m;
      }
  }
  