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/* Author: Ioan Sucan */

#pragma once

#include <moveit/macros/class_forward.h>
#include <moveit/planning_scene_monitor/current_state_monitor.h>
#include <moveit/robot_trajectory/robot_trajectory.h>
#include <boost/thread.hpp>
#include <memory>

namespace planning_scene_monitor
{
using TrajectoryStateAddedCallback = boost::function<void(const moveit::core::RobotStateConstPtr&, const ros::Time&)>;

MOVEIT_CLASS_FORWARD(TrajectoryMonitor);  // Defines TrajectoryMonitorPtr, ConstPtr, WeakPtr... etc

/** Monitors the joint_states topic and tf to record the trajectory of the robot. */
class TrajectoryMonitor
{
public:
  /** @brief Constructor.
   */
  TrajectoryMonitor(const CurrentStateMonitorConstPtr& state_monitor, double sampling_frequency = 0.0);

  ~TrajectoryMonitor();

  void startTrajectoryMonitor();

  void stopTrajectoryMonitor();

  void clearTrajectory();

  bool isActive() const;

  double getSamplingFrequency() const
  {
    return sampling_frequency_;
  }

  void setSamplingFrequency(double sampling_frequency);

  /// Return the current maintained trajectory. This function is not thread safe (hence NOT const), because the
  /// trajectory could be modified.
  const robot_trajectory::RobotTrajectory& getTrajectory()
  {
    return trajectory_;
  }

  void swapTrajectory(robot_trajectory::RobotTrajectory& other)
  {
    trajectory_.swap(other);
  }

  void setOnStateAddCallback(const TrajectoryStateAddedCallback& callback)
  {
    state_add_callback_ = callback;
  }

private:
  void recordStates();

  CurrentStateMonitorConstPtr current_state_monitor_;
  double sampling_frequency_;

  robot_trajectory::RobotTrajectory trajectory_;
  ros::Time trajectory_start_time_;
  ros::Time last_recorded_state_time_;

  std::unique_ptr<boost::thread> record_states_thread_;
  TrajectoryStateAddedCallback state_add_callback_;
};
}  // namespace planning_scene_monitor
