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/* Author: Ioan Sucan, E. Gil Jones */

#ifndef GEOMETRIC_SHAPES_BODY_OPERATIONS_
#define GEOMETRIC_SHAPES_BODY_OPERATIONS_

#include "geometric_shapes/shapes.h"
#include "geometric_shapes/bodies.h"
#include "geometric_shapes/shape_messages.h"
#include <geometry_msgs/Pose.h>
#include <visualization_msgs/Marker.h>
#include <vector>

namespace bodies
{
/** \brief Create a body from a given shape */
Body* createEmptyBodyFromShapeType(const shapes::ShapeType& shapeType);

/** \brief Create a body from a given shape */
Body* createBodyFromShape(const shapes::Shape* shape);

/** \brief Create a body from a given shape */
Body* constructBodyFromMsg(const shape_msgs::Mesh& shape, const geometry_msgs::Pose& pose);

/** \brief Create a body from a given shape */
Body* constructBodyFromMsg(const shape_msgs::SolidPrimitive& shape, const geometry_msgs::Pose& pose);

/** \brief Create a body from a given shape */
Body* constructBodyFromMsg(const shapes::ShapeMsg& shape, const geometry_msgs::Pose& pose);

/** \brief Get a shape that corresponds to this (scaled and padded) body. */
shapes::ShapeConstPtr constructShapeFromBody(const bodies::Body* body);

/** \brief Construct a Marker message that corresponds to this (scaled and padded) body. */
void constructMarkerFromBody(const bodies::Body* body, visualization_msgs::Marker& msg);

/** \brief Compute a bounding sphere to enclose a set of bounding spheres */
void mergeBoundingSpheres(const std::vector<BoundingSphere>& spheres, BoundingSphere& mergedSphere);

/** \brief Compute an axis-aligned bounding box to enclose a set of bounding boxes. */
void mergeBoundingBoxes(const std::vector<AABB>& boxes, AABB& mergedBox);

/** \brief Compute an approximate oriented bounding box to enclose a set of bounding boxes. */
void mergeBoundingBoxesApprox(const std::vector<OBB>& boxes, OBB& mergedBox);

/** \brief Compute the bounding sphere for a set of \e bodies and store the resulting sphere in \e mergedSphere */
void computeBoundingSphere(const std::vector<const Body*>& bodies, BoundingSphere& mergedSphere);
}  // namespace bodies
#endif
