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// Copyright 2024 Universidad Politécnica de Madrid
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#ifndef AS2_STATE_ESTIMATOR__AS2_STATE_ESTIMATOR_HPP_
#define AS2_STATE_ESTIMATOR__AS2_STATE_ESTIMATOR_HPP_

#include <tf2_ros/buffer.h>
#include <tf2_ros/static_transform_broadcaster.h>
#include <tf2_ros/transform_broadcaster.h>
#include <tf2_ros/transform_listener.h>
#include <filesystem>
#include <memory>
#include <pluginlib/class_loader.hpp>
#include <rclcpp/rclcpp.hpp>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <geometry_msgs/msg/twist_stamped.hpp>
#include <nav_msgs/msg/odometry.hpp>

#include <as2_core/names/topics.hpp>
#include <as2_core/node.hpp>
#include <as2_core/utils/frame_utils.hpp>
#include <as2_core/utils/tf_utils.hpp>

#include "plugin_base.hpp"

namespace as2_state_estimator
{

class StateEstimator : public as2::Node
{
public:
  explicit StateEstimator(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
  ~StateEstimator() {}

private:
  std::filesystem::path plugin_name_;
  std::shared_ptr<pluginlib::ClassLoader<as2_state_estimator_plugin_base::StateEstimatorBase>>
  loader_;
  std::shared_ptr<as2_state_estimator_plugin_base::StateEstimatorBase> plugin_ptr_;
  std::shared_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
  std::shared_ptr<tf2_ros::StaticTransformBroadcaster> tfstatic_broadcaster_;
  std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
  std::shared_ptr<tf2_ros::TransformListener> tf_listener_{nullptr};

private:
  static rclcpp::NodeOptions get_modified_options(const rclcpp::NodeOptions & options);
};  // class StateEstimator
}  // namespace as2_state_estimator

#endif  // AS2_STATE_ESTIMATOR__AS2_STATE_ESTIMATOR_HPP_