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  /* Author: Ioan Sucan */
  
  #pragma once
  
  #include <geometry_msgs/TransformStamped.h>
  #include <geometry_msgs/Pose.h>
  #include <Eigen/Geometry>
  #include <boost/noncopyable.hpp>
  #include <moveit/macros/class_forward.h>
  
  namespace moveit
  {
  namespace core
  {
  MOVEIT_CLASS_FORWARD(Transforms);
  
  /// @brief Map frame names to the transformation matrix that can transform objects from the frame name to the planning
  /// frame
  typedef std::map<std::string, Eigen::Isometry3d, std::less<std::string>,
                   Eigen::aligned_allocator<std::pair<const std::string, Eigen::Isometry3d> > >
      FixedTransformsMap;
  
  /** @brief Provides an implementation of a snapshot of a transform tree that can be easily queried for
      transforming different quantities. Transforms are maintained as a list of transforms to a particular frame.
      All stored transforms are considered fixed. */
  class Transforms : private boost::noncopyable
  {
  public:
    /**
     * @brief Construct a transform list
     */
    Transforms(const std::string& target_frame);
  
    /**
     * @brief Destructor
     */
    virtual ~Transforms();
  
    /** \brief Check if two frames end up being the same once the missing / are added as prefix (if they are missing) */
    static bool sameFrame(const std::string& frame1, const std::string& frame2);
  
    /**
     * @brief Get the planning frame corresponding to this set of transforms
     * @return The planning frame
     */
    const std::string& getTargetFrame() const;
  
    /**
     * \name Setting and retrieving transforms maintained in this class
     */
    /**@{*/
  
    /**
     * @brief Return all the transforms
     * @return A map from string names of frames to corresponding Eigen::Isometry3d (w.r.t the planning frame)
     */
    const FixedTransformsMap& getAllTransforms() const;
  
    /**
     * @brief Get a vector of all the transforms as ROS messages
     * @param transforms The output transforms
     */
    void copyTransforms(std::vector<geometry_msgs::TransformStamped>& transforms) const;
  
    /**
     * @brief Set a transform in the transform tree (adding it if necessary)
     * @param t The input transform (w.r.t the target frame)
     * @param from_frame The frame for which the input transform is specified
     */
    void setTransform(const Eigen::Isometry3d& t, const std::string& from_frame);
  
    /**
     * @brief Set a transform in the transform tree (adding it if necessary)
     * @param transform The input transform (the frame_id must match the target frame)
     */
    void setTransform(const geometry_msgs::TransformStamped& transform);
  
    /**
     * @brief Set a transform in the transform tree (adding it if necessary)
     * @param transform The input transforms (the frame_id must match the target frame)
     */
    void setTransforms(const std::vector<geometry_msgs::TransformStamped>& transforms);
  
    /**
     * @brief Set all the transforms: a map from string names of frames to corresponding Eigen::Isometry3d (w.r.t the
     * planning frame)
     */
    void setAllTransforms(const FixedTransformsMap& transforms);
  
    /**@}*/
  
    /**
     * \name Applying transforms
     */
    /**@{*/
  
    /**
     * @brief Transform a vector in from_frame to the target_frame
     *        Note: assumes that v_in and v_out are "free" vectors, not points
     * @param from_frame The frame from which the transform is computed
     * @param v_in The input vector (in from_frame)
     * @param v_out The resultant (transformed) vector
     */
    void transformVector3(const std::string& from_frame, const Eigen::Vector3d& v_in, Eigen::Vector3d& v_out) const
    {
      v_out = getTransform(from_frame).rotation() * v_in;
    }
  
    /**
     * @brief Transform a quaternion in from_frame to the target_frame
     * @param from_frame The frame in which the input quaternion is specified
     * @param v_in The input quaternion (in from_frame)
     * @param v_out The resultant (transformed) quaternion
     */
    void transformQuaternion(const std::string& from_frame, const Eigen::Quaterniond& q_in,
                             Eigen::Quaterniond& q_out) const
    {
      q_out = getTransform(from_frame).rotation() * q_in;
    }
  
    /**
     * @brief Transform a rotation matrix in from_frame to the target_frame
     * @param from_frame The frame in which the input rotation matrix is specified
     * @param m_in The input rotation matrix (in from_frame)
     * @param m_out The resultant (transformed) rotation matrix
     */
    void transformRotationMatrix(const std::string& from_frame, const Eigen::Matrix3d& m_in, Eigen::Matrix3d& m_out) const
    {
      m_out = getTransform(from_frame).rotation() * m_in;
    }
  
    /**
     * @brief Transform a pose in from_frame to the target_frame
     * @param from_frame The frame in which the input pose is specified
     * @param t_in The input pose (in from_frame)
     * @param t_out The resultant (transformed) pose
     */
    void transformPose(const std::string& from_frame, const Eigen::Isometry3d& t_in, Eigen::Isometry3d& t_out) const
    {
      t_out = getTransform(from_frame) * t_in;
    }
    /**@}*/
  
    /**
     * @brief Check whether data can be transformed from a particular frame
     */
    virtual bool canTransform(const std::string& from_frame) const;
  
    /**
     * @brief Check whether a frame stays constant as the state of the robot model changes.
     * This is true for any transform mainatined by this object.
     */
    virtual bool isFixedFrame(const std::string& frame) const;
  
    /**
     * @brief Get transform for from_frame (w.r.t target frame)
     * @param from_frame The string id of the frame for which the transform is being computed
     * @return The required transform
     */
    virtual const Eigen::Isometry3d& getTransform(const std::string& from_frame) const;
  
  protected:
    std::string target_frame_;
    FixedTransformsMap transforms_map_;
  };
  }  // namespace core
  }  // namespace moveit
  