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  /* Author: Sachin Chitta */
  
  #pragma once
  
  #include <rclcpp/rclcpp.hpp>
  #include <moveit/macros/class_forward.h>
  #include <moveit/planning_scene/planning_scene.h>
  #include <object_recognition_msgs/msg/table_array.hpp>
  #include <moveit_msgs/msg/collision_object.hpp>
  #include <mutex>
  
  namespace shapes
  {
  MOVEIT_CLASS_FORWARD(Shape);  // Defines ShapePtr, ConstPtr, WeakPtr... etc
  }
  
  namespace moveit
  {
  namespace semantic_world
  {
  MOVEIT_CLASS_FORWARD(SemanticWorld);  // Defines SemanticWorldPtr, ConstPtr, WeakPtr... etc
  
  /**
   * @brief A (simple) semantic world representation for pick and place and other tasks.
   */
  class SemanticWorld
  {
  public:
    /** @brief The signature for a callback on receiving table messages*/
    typedef std::function<void()> TableCallbackFn;
  
    /**
     * @brief A (simple) semantic world representation for pick and place and other tasks.
     * Currently this is used only to represent tables.
     */
    SemanticWorld(const rclcpp::Node::SharedPtr node, const planning_scene::PlanningSceneConstPtr& planning_scene);
  
    /**
     * @brief Get all the tables within a region of interest
     */
    object_recognition_msgs::msg::TableArray getTablesInROI(double minx, double miny, double minz, double maxx,
                                                            double maxy, double maxz) const;
  
    /**
     * @brief Get all the tables within a region of interest
     */
    std::vector<std::string> getTableNamesInROI(double minx, double miny, double minz, double maxx, double maxy,
                                                double maxz) const;
  
    /**
     * @brief Generate possible place poses on the table for a given object. This chooses appropriate
     * values for min_distance_from_edge and for height_above_table based on the object properties.
     * The assumption is that the object is represented by a mesh.
     */
    std::vector<geometry_msgs::msg::PoseStamped>
    generatePlacePoses(const std::string& table_name, const shapes::ShapeConstPtr& object_shape,
                       const geometry_msgs::msg::Quaternion& object_orientation, double resolution,
                       double delta_height = 0.01, unsigned int num_heights = 2) const;
  
    /**
     * @brief Generate possible place poses on the table for a given object. This chooses appropriate
     * values for min_distance_from_edge and for height_above_table based on the object properties.
     * The assumption is that the object is represented by a mesh.
     */
    std::vector<geometry_msgs::msg::PoseStamped>
    generatePlacePoses(const object_recognition_msgs::msg::Table& table, const shapes::ShapeConstPtr& object_shape,
                       const geometry_msgs::msg::Quaternion& object_orientation, double resolution,
                       double delta_height = 0.01, unsigned int num_heights = 2) const;
    /**
     * @brief Generate possible place poses on the table. This samples locations in a grid on the table at
     * the given resolution (in meters) in both X and Y directions. The locations are sampled at the
     * specified height above the table (in meters) and then at subsequent additional heights (num_heights
     * times) incremented by delta_height. Locations are only accepted if they are at least min_distance_from_edge
     * meters from the edge of the table.
     */
    std::vector<geometry_msgs::msg::PoseStamped> generatePlacePoses(const object_recognition_msgs::msg::Table& table,
                                                                    double resolution, double height_above_table,
                                                                    double delta_height = 0.01,
                                                                    unsigned int num_heights = 2,
                                                                    double min_distance_from_edge = 0.10) const;
  
    void clear();
  
    bool addTablesToCollisionWorld();
  
    visualization_msgs::msg::MarkerArray
    getPlaceLocationsMarker(const std::vector<geometry_msgs::msg::PoseStamped>& poses) const;
  
    void addTableCallback(const TableCallbackFn& table_callback)
    {
      table_callback_ = table_callback;
    }
  
    std::string findObjectTable(const geometry_msgs::msg::Pose& pose, double min_distance_from_edge = 0.0,
                                double min_vertical_offset = 0.0) const;
  
    bool isInsideTableContour(const geometry_msgs::msg::Pose& pose, const object_recognition_msgs::msg::Table& table,
                              double min_distance_from_edge = 0.0, double min_vertical_offset = 0.0) const;
  
  private:
    shapes::Mesh* createSolidMeshFromPlanarPolygon(const shapes::Mesh& polygon, double thickness) const;
  
    shapes::Mesh* orientPlanarPolygon(const shapes::Mesh& polygon) const;
  
    void tableCallback(const object_recognition_msgs::msg::TableArray::SharedPtr msg);
  
    void transformTableArray(object_recognition_msgs::msg::TableArray& table_array) const;
  
    planning_scene::PlanningSceneConstPtr planning_scene_;
  
    rclcpp::Node::SharedPtr node_handle_;
  
    object_recognition_msgs::msg::TableArray table_array_;
  
    std::vector<geometry_msgs::msg::PoseStamped> place_poses_;
  
    std::map<std::string, object_recognition_msgs::msg::Table> current_tables_in_collision_world_;
  
    rclcpp::Subscription<object_recognition_msgs::msg::TableArray>::SharedPtr table_subscriber_;
  
    rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr visualization_publisher_;
    rclcpp::Publisher<moveit_msgs::msg::CollisionObject>::SharedPtr collision_object_publisher_;
  
    TableCallbackFn table_callback_;
  
    rclcpp::Publisher<moveit_msgs::msg::PlanningScene>::SharedPtr planning_scene_diff_publisher_;
  };
  }  // namespace semantic_world
  }  // namespace moveit
  