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/* Author: Ioan Sucan */

#pragma once

#include <ompl/config.h>
#include <ompl/base/ProjectionEvaluator.h>
#include <moveit/ompl_interface/detail/threadsafe_state_storage.h>

// TODO: remove when ROS Lunar and older are no longer supported
#if OMPL_VERSION_VALUE >= 1004000  // Version greater than 1.4.0
typedef Eigen::Ref<Eigen::VectorXd> OMPLProjection;
#else  // All other versions
typedef ompl::base::EuclideanProjection& OMPLProjection;
#endif

namespace ompl_interface
{
class ModelBasedPlanningContext;

/** ProjectionEvaluatorLinkPose */
class ProjectionEvaluatorLinkPose : public ompl::base::ProjectionEvaluator
{
public:
  ProjectionEvaluatorLinkPose(const ModelBasedPlanningContext* pc, const std::string& link);

  unsigned int getDimension() const override;
  void defaultCellSizes() override;
  void project(const ompl::base::State* state, OMPLProjection projection) const override;

private:
  const ModelBasedPlanningContext* planning_context_;
  const moveit::core::LinkModel* link_;
  TSStateStorage tss_;
};

/** ProjectionEvaluatorJointValue */
class ProjectionEvaluatorJointValue : public ompl::base::ProjectionEvaluator
{
public:
  ProjectionEvaluatorJointValue(const ModelBasedPlanningContext* pc, std::vector<unsigned int> variables);

  unsigned int getDimension() const override;
  void defaultCellSizes() override;
  void project(const ompl::base::State* state, OMPLProjection projection) const override;

private:
  std::vector<unsigned int> variables_;
};
}  // namespace ompl_interface
