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/* Author: John Hsu */

#ifndef URDF_MODEL_STATE_H
#define URDF_MODEL_STATE_H

#include <string>
#include <vector>
#include <map>

#include "urdf_model/pose.h"
#include <urdf_model/twist.h>
#include "urdf_model_state/types.h"


namespace urdf{

//round is not defined in C++98
//So in Visual Studio <= 2012 is necessary to define it
#ifdef _MSC_VER
#if (_MSC_VER <= 1700)
double round(double value)
{
    return (value >= 0.0f)?(floor(value + 0.5f)):(ceil(value - 0.5f));
}
#endif 
#endif

class Time
{
public:
  Time() { this->clear(); };

  void set(double _seconds)
  {
    this->sec = (int32_t)(floor(_seconds));
    this->nsec = (int32_t)(round((_seconds - this->sec) * 1e9));
    this->Correct();
  };

  operator double ()
  {
    return (static_cast<double>(this->sec) +
            static_cast<double>(this->nsec)*1e-9);
  };

  int32_t sec;
  int32_t nsec;

  void clear()
  {
    this->sec = 0;
    this->nsec = 0;
  };
private:
  void Correct()
  {
    // Make any corrections
    if (this->nsec >= 1e9)
    {
      this->sec++;
      this->nsec = (int32_t)(this->nsec - 1e9);
    }
    else if (this->nsec < 0)
    {
      this->sec--;
      this->nsec = (int32_t)(this->nsec + 1e9);
    }
  };
};


class JointState
{
public:
  JointState() { this->clear(); };

  /// joint name
  std::string joint;

  std::vector<double> position;
  std::vector<double> velocity;
  std::vector<double> effort;

  void clear()
  {
    this->joint.clear();
    this->position.clear();
    this->velocity.clear();
    this->effort.clear();
  }
};

class ModelState
{
public:
  ModelState() { this->clear(); };

  /// state name must be unique
  std::string name;

  Time time_stamp;

  void clear()
  {
    this->name.clear();
    this->time_stamp.set(0);
    this->joint_states.clear();
  };

  std::vector<JointStateSharedPtr> joint_states;

};

}

#endif