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#ifndef FUSE_MODELS__PARAMETERS__UNICYCLE_2D_IGNITION_PARAMS_HPP_
#define FUSE_MODELS__PARAMETERS__UNICYCLE_2D_IGNITION_PARAMS_HPP_

#include <algorithm>
#include <stdexcept>
#include <string>
#include <vector>

#include <fuse_models/parameters/parameter_base.hpp>

#include <fuse_core/loss.hpp>
#include <fuse_core/parameter.hpp>


namespace fuse_models
{

namespace parameters
{

struct Unicycle2DIgnitionParams : public ParameterBase
{
public:
  void loadFromROS(
    fuse_core::node_interfaces::NodeInterfaces<
      fuse_core::node_interfaces::Base,
      fuse_core::node_interfaces::Logging,
      fuse_core::node_interfaces::Parameters
    > interfaces,
    const std::string & ns)
  {
    publish_on_startup =
      fuse_core::getParam(
      interfaces, fuse_core::joinParameterName(
        ns,
        "publish_on_startup"),
      publish_on_startup);
    queue_size = fuse_core::getParam(
      interfaces, fuse_core::joinParameterName(
        ns,
        "queue_size"),
      queue_size);
    reset_service = fuse_core::getParam(
      interfaces, fuse_core::joinParameterName(
        ns,
        "reset_service"),
      reset_service);
    set_pose_service =
      fuse_core::getParam(
      interfaces, fuse_core::joinParameterName(
        ns,
        "set_pose_service"),
      set_pose_service);
    set_pose_deprecated_service =
      fuse_core::getParam(
      interfaces, fuse_core::joinParameterName(
        ns,
        "set_pose_deprecated_service"),
      set_pose_deprecated_service);
    topic = fuse_core::getParam(interfaces, fuse_core::joinParameterName(ns, "topic"), topic);

    std::vector<double> sigma_vector;
    sigma_vector = fuse_core::getParam(
      interfaces, fuse_core::joinParameterName(
        ns,
        "initial_sigma"),
      sigma_vector);
    if (!sigma_vector.empty()) {
      if (sigma_vector.size() != 8) {
        throw std::invalid_argument(
                "The supplied initial_sigma parameter must be length 8, but "
                "is actually length " +
                std::to_string(sigma_vector.size()));
      }
      auto is_sigma_valid = [](const double sigma)
        {
          return std::isfinite(sigma) && (sigma > 0);
        };
      if (!std::all_of(sigma_vector.begin(), sigma_vector.end(), is_sigma_valid)) {
        throw std::invalid_argument(
                "The supplied initial_sigma parameter must contain valid floating point values. "
                "NaN, Inf, and values <= 0 are not acceptable.");
      }
      initial_sigma.swap(sigma_vector);
    }

    std::vector<double> state_vector;
    state_vector = fuse_core::getParam(
      interfaces, fuse_core::joinParameterName(
        ns,
        "initial_state"),
      state_vector);
    if (!state_vector.empty()) {
      if (state_vector.size() != 8) {
        throw std::invalid_argument(
                "The supplied initial_state parameter must be length 8, but is actually length " +
                std::to_string(state_vector.size()));
      }
      auto is_state_valid = [](const double state)
        {
          return std::isfinite(state);
        };
      if (!std::all_of(state_vector.begin(), state_vector.end(), is_state_valid)) {
        throw std::invalid_argument(
                "The supplied initial_state parameter must contain valid floating point values. "
                "NaN, Inf, etc are not acceptable.");
      }
      initial_state.swap(state_vector);
    }

    loss = fuse_core::loadLossConfig(interfaces, fuse_core::joinParameterName(ns, "loss"));
  }


  bool publish_on_startup {true};

  int queue_size {10};

  std::string reset_service {"~/reset"};

  std::string set_pose_service {"set_pose"};

  std::string set_pose_deprecated_service {"set_pose_deprecated"};

  std::string topic {"set_pose"};

  std::vector<double> initial_sigma {1.0e-9, 1.0e-9, 1.0e-9, 1.0e-9, 1.0e-9, 1.0e-9, 1.0e-9,
    1.0e-9};

  std::vector<double> initial_state {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0};

  fuse_core::Loss::SharedPtr loss;
};

}  // namespace parameters

}  // namespace fuse_models

#endif  // FUSE_MODELS__PARAMETERS__UNICYCLE_2D_IGNITION_PARAMS_HPP_