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/* Author: Ioan Sucan */

#pragma once

#include <ompl/base/goals/GoalLazySamples.h>
#include <moveit/kinematic_constraints/kinematic_constraint.h>
#include <moveit/constraint_samplers/constraint_sampler.h>

#include <moveit/robot_state/robot_state.h>
#include <moveit/robot_model/joint_model_group.h>

namespace ompl_interface
{
class ModelBasedPlanningContext;

/** An interface to the OMPL goal lazy sampler */
class ConstrainedGoalSampler : public ompl::base::GoalLazySamples
{
public:
  ConstrainedGoalSampler(const ModelBasedPlanningContext* pc, kinematic_constraints::KinematicConstraintSetPtr ks,
                         constraint_samplers::ConstraintSamplerPtr cs = constraint_samplers::ConstraintSamplerPtr());

private:
  bool sampleUsingConstraintSampler(const ompl::base::GoalLazySamples* gls, ompl::base::State* new_goal);
  bool stateValidityCallback(ompl::base::State* new_goal, moveit::core::RobotState const* state,
                             const moveit::core::JointModelGroup* /*jmg*/, const double* /*jpos*/,
                             bool verbose = false) const;
  bool checkStateValidity(ompl::base::State* new_goal, const moveit::core::RobotState& state,
                          bool verbose = false) const;

  const ModelBasedPlanningContext* planning_context_;
  kinematic_constraints::KinematicConstraintSetPtr kinematic_constraint_set_;
  constraint_samplers::ConstraintSamplerPtr constraint_sampler_;
  ompl::base::StateSamplerPtr default_sampler_;
  moveit::core::RobotState work_state_;
  unsigned int invalid_sampled_constraints_;
  bool warned_invalid_samples_;
  unsigned int verbose_display_;
};
}  // namespace ompl_interface
