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#ifndef ROBOT_NAV_2D_UTILS_TF_HELP_H
#define ROBOT_NAV_2D_UTILS_TF_HELP_H

#include <robot_nav_core2/common.h>
#include <robot_geometry_msgs/PoseStamped.h>
#include <robot_nav_2d_msgs/Pose2DStamped.h>
#include <string>

namespace robot_nav_2d_utils
{

  /**
   * @brief Transform a PoseStamped from one frame to another
   *
   * @param tf Smart pointer to TFListener
   * @param in_pose Pose to transform
   * @param out_pose Place to store the resulting transformed pose
   * @param frame Frame to transform the pose into
   * @return True if successful transform
   */
  bool transform(const TFListenerPtr tf, const ::robot_geometry_msgs::PoseStamped &in_pose,::robot_geometry_msgs::PoseStamped &out_pose, const ::std::string &frame);

  /**
   * @brief Transform a PoseStamped from one frame to another while catching exceptions
   *
   * Also returns immediately if the frames are equal.
   * @param tf Smart pointer to TFListener
   * @param frame Frame to transform the pose into
   * @param in_pose Pose to transform
   * @param out_pose Place to store the resulting transformed pose
   * @param extrapolation_fallback If true, if there is an ExtrapolationException, allow looking up the latest timestamp instead.
   * @return True if successful transform
   */
  bool transformPose(const TFListenerPtr tf, const ::std::string frame,
                     const ::robot_geometry_msgs::PoseStamped &in_pose, ::robot_geometry_msgs::PoseStamped &out_pose,
                     const bool extrapolation_fallback = true);

  /**
   * @brief Transform a Pose2DStamped from one frame to another while catching exceptions
   *
   * Also returns immediately if the frames are equal.
   * @param tf Smart pointer to TFListener
   * @param frame Frame to transform the pose into
   * @param in_pose Pose to transform
   * @param out_pose Place to store the resulting transformed pose
   * @param extrapolation_fallback If true, if there is an ExtrapolationException, allow looking up the latest timestamp instead.
   * @return True if successful transform
   */
  bool transformPose(const TFListenerPtr tf, const ::std::string frame,
                     const ::robot_nav_2d_msgs::Pose2DStamped &in_pose, ::robot_nav_2d_msgs::Pose2DStamped &out_pose,
                     const bool extrapolation_fallback = true);

  /**
   * @brief Transform a Pose2DStamped into another frame
   *
   * Note that this returns a transformed pose
   * regardless of whether the transform was successfully performed.
   *
   * @param tf Smart pointer to TFListener
   * @param pose Pose to transform
   * @param frame_id Frame to transform the pose into
   * @return The resulting transformed pose
   */
  robot_geometry_msgs::Pose2D transformStampedPose(const TFListenerPtr tf, const ::robot_nav_2d_msgs::Pose2DStamped &pose,
                                             const ::std::string &frame_id);

} // namespace robot_nav_2d_utils

#endif // ROBOT_NAV_2D_UTILS_TF_HELP_H
