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#ifndef _REPRESENTATION_RVIZ_H_
#define _REPRESENTATION_RVIZ_H_

#include <navigability_map/navigability_map.h>


/**
 * \brief  Declarion functions and class to handle the visualization markers of the Class Navigability_Map.  
 * \file representation_rviz.h
 * \author Diogo Matos
 * \date June 2013
 */


/**
 * \class Markers
 * Class to handle the visualization markers 
 * \author Jorge Almeida
 * 
 */

class Markers
{
	public:		
		void update(visualization_msgs::Marker& marker)
		{
			for(uint i=0;i<markers.size();++i)
				if(markers[i].ns==marker.ns && markers[i].id==marker.id)//Marker found
				{
					markers.erase(markers.begin()+i);
					break;
				}
				
			markers.push_back(marker);
		}
		
		void decrement(void)
		{
			for(uint i=0;i<markers.size();++i)
			{
				switch(markers[i].action)
				{
					case visualization_msgs::Marker::ADD:
						markers[i].action = visualization_msgs::Marker::DELETE;
						break;
					case visualization_msgs::Marker::DELETE:
						markers[i].action = -1;
						break;
				}
			}
		}
		
		void clean(void)
		{
			vector<visualization_msgs::Marker> new_markers;

			for(uint i=0;i<markers.size();++i)
				if(markers[i].action!=-1)
					new_markers.push_back(markers[i]);
				
			markers=new_markers;
		}

		vector<visualization_msgs::Marker> getOutgoingMarkers(void)
		{
			vector<visualization_msgs::Marker> m_out(markers);
			return markers;
		}
		
	private:
		
		vector<visualization_msgs::Marker> markers;
};

/**
* \brief Function to generate marker for the visualization of the Elevation Map on the Class Navigability_Map.
*
* \param mav_map Class Navigability_Map
* \param grid_frame frame_id to publish the markers
* \return vector<visualization_msgs::Marker>
*/

vector<visualization_msgs::Marker> create_Markers_ElavationMap(Navigability_Map& nav_map, std::string grid_frame);

/**
* \brief Function to generate marker for the visualization of the Normals on the Class Navigability_Map.
*
* \param mav_map Class Navigability_Map
* \param grid_frame frame_id to publish the markers
* \return visualization_msgs::Marker
*/

visualization_msgs::Marker create_Markers_Normals(Navigability_Map& nav_map, std::string grid_frame);

/**
* \brief Function to generate marker for the visualization of the Accessibility Map on the Class Navigability_Map.
*
* \param mav_map Class Navigability_Map
* \param grid_frame frame_id to publish the markers
* \return vector<visualization_msgs::Marker>
*/

vector<visualization_msgs::Marker> create_Markers_AccessibilityMap(Navigability_Map& nav_map, std::string grid_frame);

/// _______________________
///						    |
/// Ground truth functions |
///________________________|
visualization_msgs::Marker create_Markers_Polygon(Navigability_Map& nav_map, std::string grid_frame);
visualization_msgs::Marker create_Markers_Obstacle(Navigability_Map& nav_map, std::string grid_frame);


#endif