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/* Author: Ioan Sucan */

#pragma once

#include <moveit/collision_detection/collision_common.h>
#include <moveit_msgs/CostSource.h>
#include <moveit_msgs/ContactInformation.h>
#include <visualization_msgs/MarkerArray.h>

namespace collision_detection
{
void getCollisionMarkersFromContacts(visualization_msgs::MarkerArray& arr, const std::string& frame_id,
                                     const CollisionResult::ContactMap& con, const std_msgs::ColorRGBA& color,
                                     const ros::Duration& lifetime, const double radius = 0.035);

void getCollisionMarkersFromContacts(visualization_msgs::MarkerArray& arr, const std::string& frame_id,
                                     const CollisionResult::ContactMap& con);

/// \todo add a class for managing cost sources
void getCostMarkers(visualization_msgs::MarkerArray& arr, const std::string& frame_id,
                    std::set<CostSource>& cost_sources);

void getCostMarkers(visualization_msgs::MarkerArray& arr, const std::string& frame_id,
                    std::set<CostSource>& cost_sources, const std_msgs::ColorRGBA& color,
                    const ros::Duration& lifetime);

double getTotalCost(const std::set<CostSource>& cost_sources);

void removeCostSources(std::set<CostSource>& cost_sources, const std::set<CostSource>& cost_sources_to_remove,
                       double overlap_fraction);
void intersectCostSources(std::set<CostSource>& cost_sources, const std::set<CostSource>& a,
                          const std::set<CostSource>& b);
void removeOverlapping(std::set<CostSource>& cost_sources, double overlap_fraction);

bool getSensorPositioning(geometry_msgs::Point& point, const std::set<CostSource>& cost_sources);

void costSourceToMsg(const CostSource& cost_source, moveit_msgs::CostSource& msg);
void contactToMsg(const Contact& contact, moveit_msgs::ContactInformation& msg);
}  // namespace collision_detection
