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/* Author: Andreas Orthey */

#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_METRICS_BUNDLEMETRIC_
#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_METRICS_BUNDLEMETRIC_
#include <ompl/multilevel/datastructures/BundleSpaceGraph.h>

namespace ompl
{
    namespace multilevel
    {
        /// @cond IGNORE
        /** \brief Forward declaration of ompl::multilevel::BundleSpaceGraph */
        OMPL_CLASS_FORWARD(BundleSpaceGraph);
        /// @endcond

        class BundleSpaceMetric
        {
        public:
            using Configuration = ompl::multilevel::BundleSpaceGraph::Configuration;
            BundleSpaceMetric() = delete;
            BundleSpaceMetric(BundleSpaceGraph *);

            virtual ~BundleSpaceMetric();

            virtual void clear();

            //############################################################################
            // Distance Functions
            //############################################################################

            virtual double distanceBundle(const Configuration *xStart, const Configuration *xDest) = 0;

            virtual double distanceFiber(const Configuration *xStart, const Configuration *xDest) = 0;

            virtual double distanceBase(const Configuration *xStart, const Configuration *xDest) = 0;

            //############################################################################
            // Interpolate Functions
            //############################################################################

            virtual void interpolateBundle(const Configuration *q_from, const Configuration *q_to, const double step,
                                           Configuration *q_interp) = 0;

            void interpolateBundle(const Configuration *q_from, const Configuration *q_to, Configuration *q_interp);

            void interpolateBundle(const Configuration *q_from, Configuration *q_to);

        protected:
            BundleSpaceGraph *bundleSpaceGraph_;

            base::State *xFiberStartTmp_;
            base::State *xFiberDestTmp_;
            base::State *xBaseStartTmp_;
            base::State *xBaseDestTmp_;
        };
    }
}

#endif
