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  /* Author: Ioan Sucan */
  
  #ifndef MOVEIT_MOVEIT_SENSOR_MANAGER_
  #define MOVEIT_MOVEIT_SENSOR_MANAGER_
  
  #include <vector>
  #include <string>
  #include <moveit/macros/class_forward.h>
  #include <moveit_msgs/RobotTrajectory.h>
  #include <geometry_msgs/PointStamped.h>
  
  /// Namespace for the base class of a MoveIt! sensor manager
  namespace moveit_sensor_manager
  {
  /** \brief Define the frame of reference and the frustum of a sensor (usually this is a visual sensor) */
  struct SensorInfo
  {
    SensorInfo() : min_dist(0.), max_dist(0.0), x_angle(0.0), y_angle(0.0)
    {
    }
  
    /// The name of the frame in which the sensor observation axis is Z and starts at (0,0,0)
    std::string origin_frame;
  
    /* Define the frustum (or approximation of the frustum) */
  
    /// The minumum distance along the Z axis at which observations start
    double min_dist;
  
    /// The maximum distance along the Z axis at which observations can be
    double max_dist;
  
    /// The range of observations (in radians) on the X axis
    double x_angle;
  
    /// The range of observations (in radians) on the Y axis
    double y_angle;
  };
  
  MOVEIT_CLASS_FORWARD(MoveItSensorManager);
  
  class MoveItSensorManager
  {
  public:
    MoveItSensorManager()
    {
    }
  
    virtual ~MoveItSensorManager()
    {
    }
  
    /** \brief Get the list of known sensors */
    virtual void getSensorsList(std::vector<std::string>& names) const = 0;
  
    /** \brief Get the sensor information for a particular sensor */
    virtual SensorInfo getSensorInfo(const std::string& name) const = 0;
  
    /** \brief Check if any sensors are known to this manager */
    virtual bool hasSensors() const = 0;
  
    /// Point sensor \e name towards a particular point in space (\e target). This may require executing a trajectory, but
    /// it may or may not execute that trajectory.
    /// If it does not, it returns it as part of \e sensor_trajectory. This is the recommended behaviour, since the caller
    /// of this function can perform checks on the safety of the trajectory.
    /// The function returns true on success (either completing execution succesfully or computing a trajecotory
    /// successufully)
    virtual bool pointSensorTo(const std::string& name, const geometry_msgs::PointStamped& target,
                               moveit_msgs::RobotTrajectory& sensor_trajectory) = 0;
  };
  }
  
  #endif
  