// Copyright (c) 2014, LAAS-CNRS

// Authors: Steve Tonneau (steve.tonneau@laas.fr)

//

// This file is part of hpp-rbprm.

// hpp-rbprm is free software: you can redistribute it

// and/or modify it under the terms of the GNU Lesser General Public

// License as published by the Free Software Foundation, either version

// 3 of the License, or (at your option) any later version.

//

// hpp-rbprm is distributed in the hope that it will be

// useful, but WITHOUT ANY WARRANTY; without even the implied warranty

// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

// General Lesser Public License for more details.  You should have

// received a copy of the GNU Lesser General Public License along with

// hpp-rbprm. If not, see <http://www.gnu.org/licenses/>.

#ifndef HPP_RBPRM_PATH_VALIDATION_HH

#define HPP_RBPRM_PATH_VALIDATION_HH

#include <hpp/core/path-validation/discretized.hh>

#include <hpp/rbprm/config.hh>

#include <hpp/rbprm/rbprm-validation.hh>

#include <hpp/util/pointer.hh>

namespace hpp {

namespace rbprm {

// forward declaration

HPP_PREDEF_CLASS(RbPrmPathValidation);

// Planner objects are manipulated only via shared pointers

typedef shared_ptr<RbPrmPathValidation> RbPrmPathValidationPtr_t;

class HPP_RBPRM_DLLAPI RbPrmPathValidation

    : public core::pathValidation::Discretized {

 public:

  /// Create an instance and return a shared pointer to the instance

  static RbPrmPathValidationPtr_t create(const core::DevicePtr_t& robot,

                                         const core::value_type& stepSize);

  /// validate with custom filter for the rom validation

  virtual bool validate(const core::PathPtr_t& path, bool reverse,

                        core::PathPtr_t& validPart,

                        core::PathValidationReportPtr_t& report,

                        const std::vector<std::string>& filter);

                        core::PathPtr_t& validPart,

                        core::PathValidationReportPtr_t& report) {

  }

  /// Add a configuration validation object

  virtual void add(const core::ConfigValidationPtr_t& configValidation);

 protected:

  /// Protected constructor

  /// Users need to call RbPrmPlanner::create in order to create instances.

  RbPrmPathValidation(const core::DevicePtr_t& robot,

                      const core::value_type& stepSize);

  RbPrmValidationPtr_t rbprmValidation_;

};  // class RbPrmPlanner

}  // namespace rbprm

}  // namespace hpp

#endif  // HPP_RBPRM_PATH_VALIDATION_HH