// -*- mode: C++ -*-
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#ifndef JSK_PCL_ROS_HANDLE_ESTIMATOR_H_
#define JSK_PCL_ROS_HANDLE_ESTIMATOR_H_

#include <pcl_ros/pcl_nodelet.h>

#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>

#include "jsk_pcl_ros/tf_listener_singleton.h"

#include <jsk_recognition_msgs/BoundingBox.h>
#include "jsk_recognition_msgs/Int32Stamped.h"
#include <geometry_msgs/PoseArray.h>

#include <boost/circular_buffer.hpp>
#include <boost/tuple/tuple.hpp>

#include <jsk_topic_tools/connection_based_nodelet.h>

namespace jsk_pcl_ros
{
  class HandleEstimator: public jsk_topic_tools::ConnectionBasedNodelet
  {
  public:
    typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2,
                                                       jsk_recognition_msgs::BoundingBox > SyncPolicy;
    enum HandleType
    {
      NO_HANDLE,
      HANDLE_SMALL_ENOUGH_STAND_ON_PLANE,
      HANDLE_SMALL_ENOUGH_LIE_ON_PLANE_Y_LONGEST,
      HANDLE_SMALL_ENOUGH_LIE_ON_PLANE_X_LONGEST
    };
    
  protected:
    virtual void onInit();
    virtual void estimate(const sensor_msgs::PointCloud2::ConstPtr& cloud_msg,
                          const jsk_recognition_msgs::BoundingBox::ConstPtr& box_msg);
    virtual void estimateHandle(const HandleType& handle_type,
                                const sensor_msgs::PointCloud2::ConstPtr& cloud_msg,
                                const jsk_recognition_msgs::BoundingBox::ConstPtr& box_msg);
    virtual void handleSmallEnoughLieOnPlane(
      const sensor_msgs::PointCloud2::ConstPtr& cloud_msg,
      const jsk_recognition_msgs::BoundingBox::ConstPtr& box_msg,
      bool y_longest);
    virtual void handleSmallEnoughStandOnPlane(
      const sensor_msgs::PointCloud2::ConstPtr& cloud_msg,
      const jsk_recognition_msgs::BoundingBox::ConstPtr& box_msg);

    virtual void selectedIndexCallback( const jsk_recognition_msgs::Int32StampedConstPtr &index);

    virtual void subscribe();
    virtual void unsubscribe();
    
    ros::Publisher pub_, pub_best_, pub_preapproach_, pub_selected_, pub_selected_preapproach_;
    ros::Subscriber sub_index_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;
    message_filters::Subscriber<sensor_msgs::PointCloud2> sub_input_;
    message_filters::Subscriber<jsk_recognition_msgs::BoundingBox> sub_box_;
    tf::TransformListener* tf_listener_;
    double gripper_size_;
    double approach_offset_;
    int angle_divide_num_;
    boost::circular_buffer<boost::tuple<geometry_msgs::PoseArray, geometry_msgs::PoseArray> > output_buf;
  private:
  };
}

#endif
