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#ifndef DART_OPTIMIZER_PAGMO_PAGMOMULTIOBJECTIVESOLVER_HPP_
#define DART_OPTIMIZER_PAGMO_PAGMOMULTIOBJECTIVESOLVER_HPP_

#include <random>
#include <pagmo/pagmo.hpp>
#include "dart/optimizer/MultiObjectiveSolver.hpp"

#define DART_PAGMO_DEFAULT_SOLVER Algorithm::Global_MOEAD

namespace dart {
namespace optimizer {

class MultiObjectiveProblem;

class PagmoMultiObjectiveSolver : public MultiObjectiveSolver
{
public:
  /// Reference: https://esa.github.io/pagmo2/docs/algorithm_list.html
  enum class Algorithm
  {
#ifdef PAGMO_WITH_NLOPT
    Local_nlopt_COBYLA,
#endif
    Global_MOEAD,
    Global_NSGA2,
  };

  struct UniqueProperties
  {
    /// Algorithm to be used by the pagmo
    Algorithm mAlgorithm;

    /// Constructor
    explicit UniqueProperties(Algorithm algorithm = Algorithm::Global_NSGA2);
  };

  struct Properties : MultiObjectiveSolver::Properties, UniqueProperties
  {
    Properties(
        const MultiObjectiveSolver::Properties& solverProperties
        = MultiObjectiveSolver::Properties(),
        const UniqueProperties& descentProperties = UniqueProperties());
  };

  /// Default Constructor
  explicit PagmoMultiObjectiveSolver(
      const Properties& properties = Properties());

  /// Alternative Constructor
  explicit PagmoMultiObjectiveSolver(
      std::shared_ptr<MultiObjectiveProblem> problem);

  /// Destructor
  ~PagmoMultiObjectiveSolver() override;

  // Documentation inherited
  bool solve(std::size_t numEvolutions = 1u) override;

  // Documentation inherited
  std::string getType() const override;

  // Documentation inherited
  std::shared_ptr<MultiObjectiveSolver> clone() const override;

  /// Sets the Properties of this PagmoMultiObjectiveSolver
  void setProperties(const Properties& properties);

  /// Sets the Properties of this PagmoMultiObjectiveSolver
  void setProperties(const UniqueProperties& properties);

  /// Returns the Properties of this GradientDescentSolver
  Properties getGradientDescentProperties() const;

  /// Copies the Properties of another PagmoMultiObjectiveSolver
  void copy(const PagmoMultiObjectiveSolver& other);

  /// Copies the Properties of another PagmoMultiObjectiveSolver
  PagmoMultiObjectiveSolver& operator=(const PagmoMultiObjectiveSolver& other);

  /// Sets the algorithm that is to be used by the solver
  void setAlgorithm(Algorithm alg);

  /// Returns the algorithm that is to be used by the pagmo solver
  Algorithm getAlgorithm() const;

protected:
  /// PagmoMultiObjectiveSolver properties
  UniqueProperties mPagmoMultiObjectiveSolverP;

  /// Distribution
  std::uniform_real_distribution<double> mDistribution;
};

} // namespace optimizer
} // namespace dart

#endif // DART_OPTIMIZER_PAGMO_PAGMOMULTIOBJECTIVESOLVER_HPP_
