TestableIntersection.hpp

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#ifndef AIKIDO_CONSTRAINT_TESTABLEINTERSECTION_HPP_
#define AIKIDO_CONSTRAINT_TESTABLEINTERSECTION_HPP_
 
#include <memory>
#include <vector>
 
#include "aikido/constraint/Testable.hpp"
 
namespace aikido {
namespace constraint {
 
AIKIDO_DECLARE_POINTERS(TestableIntersection)
 
class TestableIntersection : public Testable
{
public:
  TestableIntersection(
      statespace::ConstStateSpacePtr _stateSpace,
      std::vector<ConstTestablePtr> _constraints
      = std::vector<ConstTestablePtr>());
 
  // Documentation inherited.
  bool isSatisfied(
      const aikido::statespace::StateSpace::State* state,
      TestableOutcome* outcome = nullptr) const override;
 
  std::unique_ptr<TestableOutcome> createOutcome() const override;
 
  // Documentation inherited.
  statespace::ConstStateSpacePtr getStateSpace() const override;
 
  void addConstraint(ConstTestablePtr constraint);
 
private:
  statespace::ConstStateSpacePtr mStateSpace;
  std::vector<ConstTestablePtr> mConstraints;
 
  void testConstraintStateSpaceOrThrow(const ConstTestablePtr& constraint);
};
 
} // namespace constraint
} // namespace aikido
 
#endif // AIKIDO_CONSTRAINT_TESTABLEINTERSECTION_HPP_