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#ifndef FUSE_VIZ__CONVERSIONS_HPP_
#define FUSE_VIZ__CONVERSIONS_HPP_

#include <tf2/LinearMath/Quaternion.h>
#include <tf2/LinearMath/Transform.h>
#include <tf2/LinearMath/Vector3.h>

#include <OgreColourValue.h>
#include <OgreQuaternion.h>
#include <Ogre.h>

#include <Eigen/Dense>

#include <array>
#include <stdexcept>

#include <fuse_core/graph.hpp>
#include <fuse_core/uuid.hpp>
#include <fuse_variables/orientation_2d_stamped.hpp>
#include <fuse_variables/position_2d_stamped.hpp>


namespace tf2
{

template<typename Derived>
inline void toMsg(const Eigen::MatrixBase<Derived> & covariance, std::array<double, 36> & msg)
{
  using Scalar = typename Derived::Scalar;
  using Matrix6 = Eigen::Matrix<Scalar, 6, 6>;

  Eigen::Map<Matrix6> C(msg.data());
  C.template topLeftCorner<2, 2>() = covariance.template topLeftCorner<2, 2>();
  C(5, 5) = covariance(2, 2);

  C(0, 5) = covariance(0, 2);
  C(1, 5) = covariance(1, 2);
  C(5, 0) = covariance(2, 0);
  C(5, 1) = covariance(2, 1);
}

}  // namespace tf2

namespace
{

inline tf2::Vector3 toTF(const fuse_variables::Position2DStamped & position)
{
  return {position.x(), position.y(), 0};
}

inline tf2::Quaternion toTF(const fuse_variables::Orientation2DStamped & orientation)
{
  return {tf2::Vector3{0, 0, 1}, orientation.yaw()};
}

inline tf2::Transform toTF(
  const fuse_variables::Position2DStamped & position,
  const fuse_variables::Orientation2DStamped & orientation)
{
  return tf2::Transform(toTF(orientation), toTF(position));
}

inline Ogre::Vector3 toOgre(const tf2::Vector3 & position)
{
  return {static_cast<float>(position.x()), static_cast<float>(position.y()),
    static_cast<float>(position.z())};
}

inline Ogre::Quaternion toOgre(const tf2::Quaternion & orientation)
{
  return {static_cast<float>(orientation.w()), static_cast<float>(orientation.x()),  // NOLINT
    static_cast<float>(orientation.y()), static_cast<float>(orientation.z())};
}

inline Ogre::Vector3 toOgre(const fuse_variables::Position2DStamped & position)
{
  return {static_cast<float>(position.x()), static_cast<float>(position.y()), 0};
}

inline Ogre::Quaternion toOgre(const fuse_variables::Orientation2DStamped & orientation)
{
  return toOgre(toTF(orientation));
}

}  // namespace

namespace
{

inline tf2::Transform getPose(
  const fuse_variables::Position2DStamped & position,
  const fuse_variables::Orientation2DStamped & orientation)
{
  return tf2::Transform(toTF(orientation), toTF(position));
}

inline tf2::Transform getPose(
  const fuse_core::Graph & graph, const fuse_core::UUID & position_uuid,
  const fuse_core::UUID & orientation_uuid)
{
  const auto position =
    dynamic_cast<const fuse_variables::Position2DStamped *>(&graph.getVariable(position_uuid));
  if (!position) {
    throw std::runtime_error(
            "Failed to get variable " + fuse_core::uuid::to_string(position_uuid) +
            " from graph as fuse_variables::Position2DStamped.");
  }

  const auto orientation = dynamic_cast<const fuse_variables::Orientation2DStamped *>(
    &graph.getVariable(orientation_uuid));
  if (!orientation) {
    throw std::runtime_error(
            "Failed to get variable " + fuse_core::uuid::to_string(orientation_uuid) +
            " from graph as fuse_variables::Orientation2DStamped.");
  }

  return getPose(*position, *orientation);
}

}  // namespace
#endif  // FUSE_VIZ__CONVERSIONS_HPP_