#ifndef _trajectory_planner_nodelet_aux_CPP_
#define _trajectory_planner_nodelet_aux_CPP_

#include "trajectory_planner_nodelet.h"

void processFeedback( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback )
{
	std::ostringstream s;
	s << "Feedback from marker '" << feedback->marker_name << "' "
		<< " / control '" << feedback->control_name << "'";

	std::ostringstream mouse_point_ss;
	if( feedback->mouse_point_valid )
	{
		mouse_point_ss << " at " << feedback->mouse_point.x
			<< ", " << feedback->mouse_point.y
			<< ", " << feedback->mouse_point.z
			<< " in frame " << feedback->header.frame_id;
	}

	switch ( feedback->event_type )
	{
		case visualization_msgs::InteractiveMarkerFeedback::POSE_UPDATE:
			manage_vt->set_attractor_point(feedback->pose.position.x, feedback->pose.position.y, 2.0*asin(feedback->pose.orientation.z));
			
			break;
	}

	server->applyChanges();
}


Marker makeBox( InteractiveMarker &msg )
{
	Marker marker;

	marker.type = Marker::ARROW;
	marker.scale.x = msg.scale;
	marker.scale.y = msg.scale;
	marker.scale.z = msg.scale;
	marker.color.r = 0;
	marker.color.g = 0.7;
	marker.color.b = 0;
	marker.color.a = 0.6;
	return marker;
}


InteractiveMarkerControl& makeBoxControl( InteractiveMarker &msg )
{
	InteractiveMarkerControl control;
	control.always_visible = true;
	control.markers.push_back( makeBox(msg) );
	msg.controls.push_back( control );

	return msg.controls.back();
}


void make6DofMarker( bool fixed )
{
	InteractiveMarker int_marker;
	int_marker.header.frame_id = "/vehicle_odometry";
	int_marker.pose.position.x = 5;
	int_marker.pose.position.y = 0;
	int_marker.pose.position.z = 0;
	int_marker.scale = 0.4;

	int_marker.name = "Control target";
	int_marker.description = "Control the final \nposition of the robot";

	// insert a box
	makeBoxControl(int_marker);
	InteractiveMarkerControl control;

	control.orientation.w = 1;
	control.orientation.x = 1;
	control.orientation.y = 0;
	control.orientation.z = 0;
	control.name = "move_x";
	control.interaction_mode = InteractiveMarkerControl::MOVE_AXIS;
	int_marker.controls.push_back(control);

	control.orientation.w = 1;
	control.orientation.x = 0;
	control.orientation.y = 0;
	control.orientation.z = 1;
	control.name = "move_y";
	control.interaction_mode = InteractiveMarkerControl::MOVE_AXIS;
	int_marker.controls.push_back(control);

	control.orientation.w = 1;
	control.orientation.x = 0;
	control.orientation.y = 1;
	control.orientation.z = 0;
	control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
	control.name = "rotate_z";
	int_marker.controls.push_back(control);

	server->insert(int_marker);
	server->setCallback(int_marker.name, &processFeedback);
}
#endif