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/** \author E. Gil Jones */

#pragma once

#include <ros/ros.h>
#include <collision_distance_field_ros/collision_distance_field_ros_helpers.h>
#include <collision_distance_field/collision_robot_distance_field.h>

namespace collision_detection
{
class CollisionRobotDistanceFieldROS : public CollisionRobotDistanceField
{
public:
  CollisionRobotDistanceFieldROS(const planning_models::RobotModelConstPtr& robot_model, double size_x = DEFAULT_SIZE_X,
                                 double size_y = DEFAULT_SIZE_Y, double size_z = DEFAULT_SIZE_Z,
                                 bool use_signed_distance_field = DEFAULT_USE_SIGNED_DISTANCE_FIELD,
                                 double resolution = DEFAULT_RESOLUTION,
                                 double collision_tolerance = DEFAULT_COLLISION_TOLERANCE,
                                 double max_propogation_distance = DEFAULT_MAX_PROPOGATION_DISTANCE,
                                 double padding = 0.0, double scale = 1.0)
    : CollisionRobotDistanceField(robot_model)
  {
    ros::NodeHandle nh;
    std::map<std::string, std::vector<CollisionSphere> > coll_spheres;
    collision_detection::loadLinkBodySphereDecompositions(nh, getRobotModel(), coll_spheres);
    initialize(coll_spheres, size_x, size_y, size_z, use_signed_distance_field, resolution, collision_tolerance,
               max_propogation_distance);
  }
};
}  // namespace collision_detection
