//

// Copyright (c) 2017 CNRS

// Authors: Pierre Fernbach

//

// This file is part of hpp-rbprm

// hpp-core 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-core 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-core  If not, see

// <http://www.gnu.org/licenses/>.

#include <cstdlib>

#include <deque>

#include <hpp/core/config-validations.hh>

#include <hpp/core/distance.hh>

#include <hpp/core/kinodynamic-oriented-path.hh>

#include <hpp/core/path-projector.hh>

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

#include <hpp/core/path-vector.hh>

#include <hpp/core/problem.hh>

#include <hpp/rbprm/planner/random-shortcut-dynamic.hh>

#include <hpp/rbprm/planner/rbprm-node.hh>

#include <hpp/util/assertion.hh>

#include <hpp/util/debug.hh>

#include <hpp/util/timer.hh>

#include <limits>

namespace hpp {

namespace rbprm {

using core::Configuration_t;

using core::ConfigurationIn_t;

using core::ConfigurationPtr_t;

using core::DistancePtr_t;

using core::KinodynamicOrientedPath;

using core::KinodynamicOrientedPathPtr_t;

using core::KinodynamicPath;

using core::KinodynamicPathPtr_t;

using core::PathPtr_t;

using core::PathVector;

using core::PathVectorPtr_t;

using core::Problem;

using pinocchio::value_type;

    core::ProblemConstPtr_t problem) {

}

    : RandomShortcut(problem),

      sm_(dynamic_pointer_cast<SteeringMethodKinodynamic>(

      rbprmPathValidation_(dynamic_pointer_cast<RbPrmPathValidation>(

         "Random-shortcut-dynamic must use a kinodynamic-steering-method");

      rbprmPathValidation_ &&

      "Path validation should be a RbPrmPathValidation class for this solver");

  // retrieve parameters from problem :

               2.;

               2.;

  else

  hppDout(notice, "tryJump in steering method = " << tryJump_);

  hppDout(notice, "mu define in python : " << mu_);

// Compute the length of a vector of paths assuming that each element

// is optimal for the given distance.

template <bool reEstimateLength = false>

struct PathLength {

                               const DistancePtr_t& /*distance*/) {

    if (reEstimateLength)

    else {

      }

    }

  }

};

  hppDout(notice, "!! Start optimize()");

  hppStartBenchmark(RANDOM_SHORTCUT);

  using std::make_pair;

  using std::numeric_limits;

  value_type t[4];

  // Maximal number of iterations without improvements

  std::size_t n =

  hppDout(notice, "minBetweenPoints = " << minBetweenPoint);

          // hardcoded value of 1 and find a way to compute it (a percentage of

          // total time ?)

      } else {

      }

      hppDout(error, "Configuration at param " << t[1]

                                               << " could not be "

                                                  "projected");

    }

      hppDout(error, "Configuration at param " << t[2]

                                               << " could not be "

                                                  "projected");

    }

    // Validate sub parts

    bool valid[3];

      else {  // with kinodynamic path, we are not assured that a 'straight

              // line' is shorter than the previously found path

      }

    }

    hppDout(notice, "t0 = " << t[0] << " ; t1 = " << t[1] << " ; t2 = " << t[2]

                            << " ; t3 = " << t[3]);

    hppDout(notice, "first segment : valid : " << valid[0]);

    hppDout(notice, "mid segment   : valid : " << valid[1]);

    hppDout(notice, "last segment  : valid : " << valid[2]);

    // Replace valid parts

    result =

      try {

        else

        hppDout(error, "Caught exception at with time "

                           << t[i] << " and " << t[i + 1] << ": " << e.what());

      }

    }

    core::value_type newLength =

      hppDout(info, "the length would increase:" << length[n - 1] << " "

                                                 << newLength);

    } else {

      hppDout(info, "length = " << length[n - 1]);

    }

  }

      hppDout(info, "At rank " << i << ", constraints are "

                               << *result->pathAtRank(i)->constraints());

    else

      hppDout(info, "At rank " << i << ", no constraints");

  }

  hppStopBenchmark(RANDOM_SHORTCUT);

  hppDisplayBenchmark(RANDOM_SHORTCUT);

}  // optimize

                                       ConfigurationIn_t q2) const {

  // according to optimize() method : the path is always in the direction q1 ->

  // q2 first : create a node and fill all informations about contacts for the

  // initial state (q1):

  core::RbprmNodePtr_t x1(

  hppDout(notice, "Random shortucut, fillNodeMatrices : ");

  // call steering method kinodynamic with the newly created node

  hppDout(notice, "Random shortucut, steering method  : ");

    hppDout(notice, "Random shortucut, path exist ");

      hppDout(notice, "Path doesn't link the targets");

    }

      hppDout(notice, "Path length < epsilon");

    }

      hppDout(notice, "Path projector exist in random-shortcut");

    }

  }

}

}  // namespace rbprm

}  // namespace hpp