/*
 * Copyright 2019 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
#ifndef SDF_SEMANTIC_POSE_HH_
#define SDF_SEMANTIC_POSE_HH_

#include <memory>
#include <string>
#include <gz/math/Pose3.hh>
#include <gz/utils/ImplPtr.hh>

#include <sdf/Error.hh>
#include <sdf/Element.hh>
#include <sdf/config.hh>
#include "sdf/system_util.hh"

#ifdef _WIN32
// Disable warning C4251 which is triggered by
// std::unique_ptr
#pragma warning(push)
#pragma warning(disable: 4251)
#endif

namespace sdf
{
  // Inline bracket to help doxygen filtering.
  inline namespace SDF_VERSION_NAMESPACE {
  //

  // Forward declare private data class.
  struct PoseRelativeToGraph;
  template <typename T> class ScopedGraph;

  /// \brief SemanticPose is a data structure that can be used by different
  /// DOM objects to resolve poses on a PoseRelativeToGraph. This object holds
  /// a Pose3 object, the name of the frame relative to which it is defined,
  /// a pointer to a PoseRelativeToGraph, and a default frame to resolve to.
  /// The name of the default frame to resolve to must not be empty.
  /// This class only has a private constructor, and may only be accessed from
  /// its friend DOM classes.
  class SDFORMAT_VISIBLE SemanticPose
  {
    /// \brief Get the raw Pose3 transform.
    /// \return The raw Pose3 transform.
    public: const gz::math::Pose3d &RawPose() const;

    /// \brief Get the name of the coordinate frame relative to which this
    /// object's pose is expressed. An empty value indicates that the frame is
    /// relative to the default parent object.
    /// \return The name of the pose relative-to frame.
    public: const std::string &RelativeTo() const;

    /// \brief Resolve pose of this object with respect to another named frame.
    /// If there are any errors resolving the pose, the output will not be
    /// modified.
    /// \param[out] _pose The resolved pose.
    /// \param[in] _resolveTo The pose will be resolved with respect to this
    /// frame. If unset or empty, the default resolve-to frame will be used.
    /// \return Errors in resolving pose.
    public: Errors Resolve(gz::math::Pose3d &_pose,
                           const std::string &_resolveTo = "") const;

    /// \brief Private constructor.
    /// \param[in] _pose Raw pose of object.
    /// \param[in] _relativeTo Name of frame in graph relative-to which the
    /// raw pose is applied.
    /// \param[in] _defaultResolveTo Default frame to resolve-to in Resolve()
    /// if no frame is specified.
    /// \param[in] _graph A scoped PoseRelativeToGraph object.
    private: SemanticPose(
        const gz::math::Pose3d &_pose,
        const std::string &_relativeTo,
        const std::string &_defaultResolveTo,
        const sdf::ScopedGraph<sdf::PoseRelativeToGraph> &_graph);

    /// \brief Private constructor that is used by object that represent a frame
    /// in the PoseRelativeTo graph. Examples are Model, Frame, Link and not
    /// Collision or Visual.
    /// \param[in] _name Name of object. This should also be the name of the
    /// frame represented by this object in the PoseRelativeTo graph.
    /// \param[in] _pose Raw pose of object.
    /// \param[in] _relativeTo Name of frame in graph relative-to which the
    /// raw pose is applied.
    /// \param[in] _defaultResolveTo Default frame to resolve-to in Resolve()
    /// if no frame is specified.
    /// \param[in] _graph A scoped PoseRelativeToGraph object.
    private: SemanticPose(
        const std::string &_name,
        const gz::math::Pose3d &_pose,
        const std::string &_relativeTo,
        const std::string &_defaultResolveTo,
        const sdf::ScopedGraph<sdf::PoseRelativeToGraph> &_graph);

    friend class Collision;
    friend class Frame;
    friend class Joint;
    friend class Light;
    friend class Link;
    friend class ParticleEmitter;
    friend class Projector;
    friend class Model;
    friend class Sensor;
    friend class Visual;

    /// \brief Private data pointer.
    GZ_UTILS_IMPL_PTR(dataPtr)
  };
  }
}

#ifdef _WIN32
#pragma warning(pop)
#endif

#endif
