CartesianProductTestable.hpp

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#ifndef AIKIDO_CONSTRAINT_TESTABLESUBSPACE_HPP_
#define AIKIDO_CONSTRAINT_TESTABLESUBSPACE_HPP_
 
#include <vector>
 
#include "aikido/constraint/Testable.hpp"
#include "aikido/statespace/CartesianProduct.hpp"
 
namespace aikido {
namespace constraint {
 
class CartesianProductTestable : public Testable
{
public:
  CartesianProductTestable(
      std::shared_ptr<const statespace::CartesianProduct> _stateSpace,
      std::vector<ConstTestablePtr> _constraints);
 
  statespace::ConstStateSpacePtr getStateSpace() const override;
 
  bool isSatisfied(
      const aikido::statespace::StateSpace::State* _state,
      TestableOutcome* outcome = nullptr) const override;
 
  std::unique_ptr<TestableOutcome> createOutcome() const override;
 
private:
  std::shared_ptr<const statespace::CartesianProduct> mStateSpace;
  std::vector<ConstTestablePtr> mConstraints;
};
 
} // namespace constraint
} // namespace aikido
 
#endif // define AIKIDO_CONSTRAINT_SAMPLEABLESUBSPACE_HPP_