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  /* Author: Ioan Sucan */
  
  #include <moveit/ompl_interface/detail/projection_evaluators.h>
  #include <moveit/ompl_interface/model_based_planning_context.h>
  #include <moveit/ompl_interface/parameterization/model_based_state_space.h>
  
  ompl_interface::ProjectionEvaluatorLinkPose::ProjectionEvaluatorLinkPose(const ModelBasedPlanningContext* pc,
                                                                           const std::string& link)
    : ompl::base::ProjectionEvaluator(pc->getOMPLStateSpace())
    , planning_context_(pc)
    , link_(planning_context_->getJointModelGroup()->getLinkModel(link))
    , tss_(planning_context_->getCompleteInitialRobotState())
  {
  }
  
  unsigned int ompl_interface::ProjectionEvaluatorLinkPose::getDimension() const
  {
    return 3;
  }
  
  void ompl_interface::ProjectionEvaluatorLinkPose::defaultCellSizes()
  {
    cellSizes_.resize(3);
    cellSizes_[0] = 0.1;
    cellSizes_[1] = 0.1;
    cellSizes_[2] = 0.1;
  }
  
  void ompl_interface::ProjectionEvaluatorLinkPose::project(const ompl::base::State* state,
                                                            OMPLProjection projection) const
  {
    robot_state::RobotState* s = tss_.getStateStorage();
    planning_context_->getOMPLStateSpace()->copyToRobotState(*s, state);
  
    const Eigen::Vector3d& o = s->getGlobalLinkTransform(link_).translation();
    projection(0) = o.x();
    projection(1) = o.y();
    projection(2) = o.z();
  }
  
  ompl_interface::ProjectionEvaluatorJointValue::ProjectionEvaluatorJointValue(const ModelBasedPlanningContext* pc,
                                                                               const std::vector<unsigned int>& variables)
    : ompl::base::ProjectionEvaluator(pc->getOMPLStateSpace()), planning_context_(pc), variables_(variables)
  {
  }
  
  unsigned int ompl_interface::ProjectionEvaluatorJointValue::getDimension() const
  {
    return variables_.size();
  }
  
  void ompl_interface::ProjectionEvaluatorJointValue::defaultCellSizes()
  {
    cellSizes_.clear();
    cellSizes_.resize(variables_.size(), 0.1);
  }
  
  void ompl_interface::ProjectionEvaluatorJointValue::project(const ompl::base::State* state,
                                                              OMPLProjection projection) const
  {
    for (std::size_t i = 0; i < variables_.size(); ++i)
      projection(i) = state->as<ModelBasedStateSpace::StateType>()->values[variables_[i]];
  }
  