CSet.h

#ifndef PLANNING_CSET_H
#define PLANNING_CSET_H

#include <KrisLibrary/math/vector.h>
#include <functional>

namespace Optimization {
  class NonlinearProgram;
} //namespace Math
using namespace Math;
typedef Vector Config;

class CSet
{
public:
  #if __cplusplus > 199711L || _MSC_VER >= 1900
  typedef std::function<bool(const Config&)> CPredicate;
  typedef bool (*PREDICATE_FUNCTION_PTR) (const Config&);
  #else
  typedef bool (*CPredicate) (const Config&);
  #endif //C++11

  CSet();
  CSet(CPredicate f);
  #if __cplusplus > 199711L || _MSC_VER >= 1900
    CSet(PREDICATE_FUNCTION_PTR f);
  #endif
  virtual ~CSet () {}
  virtual int NumDimensions() const { return -1; }
  virtual bool Contains(const Config& x);
  virtual bool Project(Config& x) { return Contains(x); }

  virtual bool IsSampleable() const { return false; }

  virtual void Sample(Config& x) {}

  virtual Optimization::NonlinearProgram* Numeric() { return NULL; }

  virtual bool IsConvex() const { return false; }

  virtual Real ObstacleDistance(const Config& x) { return -Inf; }

  CPredicate test;
};

#endif