BoxSpace.h

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#ifndef _BOXSPACE_H_
#define _BOXSPACE_H_

#include <Rcs_MatNd.h>

#include <string>
#include <vector>

namespace Rcs
{

/**
 * A box in R^n.
 *
 * Each coordinate is bounded by a minimum and maximum value.
 *
 * This class doesn't define any advanced operations, it solely exists to clean up the C++ interface of the implementation.
 */
class BoxSpace
{
public:
    /**
     * Create a box space from min/max value matrices. The shape of the matrices must match.
     *
     * The BoxSpace object will assume ownership of the MatNds.
     *
     * @param min minimum values for each element.
     * @param max maximum values for each element.
     * @param names variable names for each element.
     */
    BoxSpace(MatNd* min, MatNd* max, std::vector<std::string> names = {});
    
    /**
     * Create a box space with the same min/max value for all dimensions.
     *
     * @param min minimum value for any element
     * @param max maximum value for any element
     * @param m number of rows in space
     * @param n number of columns in space
     * @param names variable names for each element.
     */
    BoxSpace(double min, double max, unsigned int m, unsigned int n = 1, std::vector<std::string> names = {});
    
    // copyable
    BoxSpace(const BoxSpace&);
    
    BoxSpace& operator=(const BoxSpace&);
    
    // moveable
    BoxSpace(BoxSpace&&) noexcept;
    
    BoxSpace& operator=(BoxSpace&&) noexcept;
    
    // cleans up owned MatNds
    ~BoxSpace();
    
    
    /**
     * Check if the given MatNd has the right shape for this space.
     *
     * The optional parameter can take an error message to report back.
     *
     * @param[in] values value matrix to check
     * @param[out] msg string variable to write a message to if the values do not fit.
     *
     * @return true if the values fit
     */
    bool checkDimension(const MatNd* values, std::string* msg = NULL) const;
    
    /**
     * Check if the given MatNd has the right shape and it's values are valid.
     *
     * The optional parameter can take an error message to report back.
     *
     * @param[in] values value matrix to check
     * @param[out] msg string variable to write a message to if the values do not fit.
     *
     * @return true if the values fit
     */
    bool contains(const MatNd* values, std::string* msg = NULL) const;
    
    
    /**
     * Create a matrix of the right shape to fit into the space.
     * @return a MatNd of the right shape
     */
    MatNd* createValueMatrix() const;
    
    /**
     * Fill the given matrix out with random values fitting into the space bounds.
     *
     * @param[out] out MatNd to fill. The shape must match.
     */
    void sample(MatNd* out) const;
    
    /**
     * Lower bounds for each variable.
     */
    const MatNd* getMin() const
    {
        return min;
    }
    
    /**
     * Upper bounds for each variable.
     */
    const MatNd* getMax() const
    {
        return max;
    }
    
    /**
     * Names for each variable.
     *
     * These are intended for use in python, i.e., for pandas dataframe column names.
     */
    const std::vector<std::string>& getNames() const
    {
        return names;
    }

private:
    // space bounds
    MatNd* min;
    MatNd* max;
    
    // names for every space entry
    // flattened, row-major
    std::vector<std::string> names;
};

} /* namespace Rcs */

#endif /* _BOXSPACE_H_ */