#ifndef COMMON_LIB_H
#define COMMON_LIB_H

#include <so3_math.h>
#include <Eigen/Eigen>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <fast_lio/States.h>
#include <fast_lio/Pose6D.h>
#include <sensor_msgs/Imu.h>
#include <nav_msgs/Odometry.h>
#include <tf/transform_broadcaster.h>
#include <eigen_conversions/eigen_msg.h>


// #define DEBUG_PRINT
// #define USE_ikdtree

#define PI_M (3.14159265358)
#define G_m_s2 (9.8099)         // Gravaty const in GuangDong/China
#define DIM_OF_STATES (18)      // Dimension of states (Let Dim(SO(3)) = 3)
#define DIM_OF_PROC_N (12)      // Dimension of process noise (Let Dim(SO(3)) = 3)
#define CUBE_LEN  (6.0)
#define LIDAR_SP_LEN    (2)
#define INIT_COV   (0.0001)

#define VEC_FROM_ARRAY(v)        v[0],v[1],v[2]
#define MAT_FROM_ARRAY(v)        v[0],v[1],v[2],v[3],v[4],v[5],v[6],v[7],v[8]
#define CONSTRAIN(v,min,max)     ((v>min)?((v<max)?v:max):min)
#define ARRAY_FROM_EIGEN(mat)    mat.data(), mat.data() + mat.rows() * mat.cols()
#define STD_VEC_FROM_EIGEN(mat)  std::vector<decltype(mat)::Scalar> (mat.data(), mat.data() + mat.rows() * mat.cols())


#define DEBUG_FILE_DIR(name)  (std::string(std::string(ROOT_DIR) + "Log/"+ name))

typedef fast_lio::Pose6D Pose6D;
typedef pcl::PointXYZINormal PointType;
typedef pcl::PointCloud<PointType> PointCloudXYZI;

Eigen::Matrix3d Eye3d(Eigen::Matrix3d::Identity());
Eigen::Matrix3f Eye3f(Eigen::Matrix3f::Identity());
Eigen::Vector3d Zero3d(0, 0, 0);
Eigen::Vector3f Zero3f(0, 0, 0);
// Eigen::Vector3d Lidar_offset_to_IMU(0.05512, 0.02226, 0.0297); // Horizon
Eigen::Vector3d Lidar_offset_to_IMU(0.04165, 0.02326, -0.0284); // Avia

struct MeasureGroup     // Lidar data and imu dates for the curent process
{
    MeasureGroup()
    {
        this->lidar.reset(new PointCloudXYZI());
    };
    double lidar_beg_time;
    PointCloudXYZI::Ptr lidar;
    std::deque<sensor_msgs::Imu::ConstPtr> imu;
};

struct StatesGroup
{
    StatesGroup() {
		this->rot_end = Eigen::Matrix3d::Identity();
		this->pos_end = Zero3d;
        this->vel_end = Zero3d;
        this->bias_g  = Zero3d;
        this->bias_a  = Zero3d;
        this->gravity = Zero3d;
        this->cov     = Eigen::Matrix<double,DIM_OF_STATES,DIM_OF_STATES>::Identity() * INIT_COV;
	};

    StatesGroup(const StatesGroup& b) {
		this->rot_end = b.rot_end;
		this->pos_end = b.pos_end;
        this->vel_end = b.vel_end;
        this->bias_g  = b.bias_g;
        this->bias_a  = b.bias_a;
        this->gravity = b.gravity;
        this->cov     = b.cov;
	};

    StatesGroup& operator=(const StatesGroup& b)
	{
        this->rot_end = b.rot_end;
		this->pos_end = b.pos_end;
        this->vel_end = b.vel_end;
        this->bias_g  = b.bias_g;
        this->bias_a  = b.bias_a;
        this->gravity = b.gravity;
        this->cov     = b.cov;
        return *this;
	};


    StatesGroup operator+(const Eigen::Matrix<double, DIM_OF_STATES, 1> &state_add)
	{
        StatesGroup a;
		a.rot_end = this->rot_end * Exp(state_add(0,0), state_add(1,0), state_add(2,0));
		a.pos_end = this->pos_end + state_add.block<3,1>(3,0);
        a.vel_end = this->vel_end + state_add.block<3,1>(6,0);
        a.bias_g  = this->bias_g  + state_add.block<3,1>(9,0);
        a.bias_a  = this->bias_a  + state_add.block<3,1>(12,0);
        a.gravity = this->gravity + state_add.block<3,1>(15,0);
        a.cov     = this->cov;
		return a;
	};

    StatesGroup& operator+=(const Eigen::Matrix<double, DIM_OF_STATES, 1> &state_add)
	{
        this->rot_end = this->rot_end * Exp(state_add(0,0), state_add(1,0), state_add(2,0));
		this->pos_end += state_add.block<3,1>(3,0);
        this->vel_end += state_add.block<3,1>(6,0);
        this->bias_g  += state_add.block<3,1>(9,0);
        this->bias_a  += state_add.block<3,1>(12,0);
        this->gravity += state_add.block<3,1>(15,0);
		return *this;
	};

    Eigen::Matrix<double, DIM_OF_STATES, 1> operator-(const StatesGroup& b)
	{
        Eigen::Matrix<double, DIM_OF_STATES, 1> a;
        Eigen::Matrix3d rotd(b.rot_end.transpose() * this->rot_end);
        a.block<3,1>(0,0)  = Log(rotd);
        a.block<3,1>(3,0)  = this->pos_end - b.pos_end;
        a.block<3,1>(6,0)  = this->vel_end - b.vel_end;
        a.block<3,1>(9,0)  = this->bias_g  - b.bias_g;
        a.block<3,1>(12,0) = this->bias_a  - b.bias_a;
        a.block<3,1>(15,0) = this->gravity - b.gravity;
		return a;
	};

	Eigen::Matrix3d rot_end;      // the estimated attitude (rotation matrix) at the end lidar point
    Eigen::Vector3d pos_end;      // the estimated position at the end lidar point (world frame)
    Eigen::Vector3d vel_end;      // the estimated velocity at the end lidar point (world frame)
    Eigen::Vector3d bias_g;       // gyroscope bias
    Eigen::Vector3d bias_a;       // accelerator bias
    Eigen::Vector3d gravity;      // the estimated gravity acceleration
    Eigen::Matrix<double, DIM_OF_STATES, DIM_OF_STATES>  cov;     // states covariance
};

template<typename T>
T rad2deg(T radians)
{
  return radians * 180.0 / PI_M;
}

template<typename T>
T deg2rad(T degrees)
{
  return degrees * PI_M / 180.0;
}

template<typename T>
auto set_pose6d(const double t, const Eigen::Matrix<T, 3, 1> &a, const Eigen::Matrix<T, 3, 1> &g, \
                const Eigen::Matrix<T, 3, 1> &v, const Eigen::Matrix<T, 3, 1> &p, const Eigen::Matrix<T, 3, 3> &R)
{
    Pose6D rot_kp;
    rot_kp.offset_time = t;
    for (int i = 0; i < 3; i++)
    {
        rot_kp.acc[i] = a(i);
        rot_kp.gyr[i] = g(i);
        rot_kp.vel[i] = v(i);
        rot_kp.pos[i] = p(i);
        for (int j = 0; j < 3; j++)  rot_kp.rot[i*3+j] = R(i,j);
    }
    // Eigen::Map<Eigen::Matrix3d>(rot_kp.rot, 3,3) = R;
    return std::move(rot_kp);
}



#endif