ConfigurationSpace.h

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// -*- mode: c++; indent-tabs-mode: nil; c-basic-offset: 4; tab-width: 4; -*-
#ifndef __CONFIGURATION_SPACE_H__
#define __CONFIGURATION_SPACE_H__

#include "exportdef.h"
#include <vector>
#include <iostream>

namespace PathEngine {
    class Configuration;

    class HRPPLANNER_API ConfigurationSpace
    {
    public:
        ConfigurationSpace(unsigned int i_size);

        bool isValid(const Configuration& cfg) const;

        double &weight(unsigned int i_rank);
        const double weight(unsigned int i_rank) const;

        void bounds(unsigned int i_rank, double min, double max);

        double& ubound(unsigned int i_rank);

        double& lbound(unsigned int i_rank);

        void unboundedRotation(unsigned int i_rank, bool i_flag);

        bool unboundedRotation(unsigned int i_rank);

        Configuration random();

        unsigned int size();

    private:    
        unsigned int m_size;
        std::vector<double> m_ubounds;
        std::vector<double> m_lbounds;
        std::vector<double> m_weights;
        std::vector<bool> m_isUnboundedRotation;
    };
};


#endif