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  /* Author: Ioan Sucan */
  
  #include <moveit/point_containment_filter/shape_mask.h>
  #include <geometric_shapes/body_operations.h>
  #include <ros/console.h>
  #include <sensor_msgs/point_cloud2_iterator.h>
  
  static const std::string LOGNAME = "shape_mask";
  
  point_containment_filter::ShapeMask::ShapeMask(const TransformCallback& transform_callback)
    : transform_callback_(transform_callback), next_handle_(1), min_handle_(1)
  {
  }
  
  point_containment_filter::ShapeMask::~ShapeMask()
  {
    freeMemory();
  }
  
  void point_containment_filter::ShapeMask::freeMemory()
  {
    for (const SeeShape& body : bodies_)
      delete body.body;
    bodies_.clear();
  }
  
  void point_containment_filter::ShapeMask::setTransformCallback(const TransformCallback& transform_callback)
  {
    boost::mutex::scoped_lock _(shapes_lock_);
    transform_callback_ = transform_callback;
  }
  
  point_containment_filter::ShapeHandle point_containment_filter::ShapeMask::addShape(const shapes::ShapeConstPtr& shape,
                                                                                      double scale, double padding)
  {
    boost::mutex::scoped_lock _(shapes_lock_);
    SeeShape ss;
    ss.body = bodies::createEmptyBodyFromShapeType(shape->type);
    if (ss.body)
    {
      ss.body->setDimensionsDirty(shape.get());
      ss.body->setScaleDirty(scale);
      ss.body->setPaddingDirty(padding);
      ss.body->updateInternalData();
      ss.volume = ss.body->computeVolume();
      ss.handle = next_handle_;
      std::pair<std::set<SeeShape, SortBodies>::iterator, bool> insert_op = bodies_.insert(ss);
      if (!insert_op.second)
        ROS_ERROR_NAMED(LOGNAME, "Internal error in management of bodies in ShapeMask. This is a serious error.");
      used_handles_[next_handle_] = insert_op.first;
    }
    else
      return 0;
  
    ShapeHandle ret = next_handle_;
    const std::size_t sz = min_handle_ + bodies_.size() + 1;
    for (std::size_t i = min_handle_; i < sz; ++i)
      if (used_handles_.find(i) == used_handles_.end())
      {
        next_handle_ = i;
        break;
      }
    min_handle_ = next_handle_;
  
    return ret;
  }
  
  void point_containment_filter::ShapeMask::removeShape(ShapeHandle handle)
  {
    boost::mutex::scoped_lock _(shapes_lock_);
    std::map<ShapeHandle, std::set<SeeShape, SortBodies>::iterator>::iterator it = used_handles_.find(handle);
    if (it != used_handles_.end())
    {
      delete it->second->body;
      bodies_.erase(it->second);
      used_handles_.erase(it);
      min_handle_ = handle;
    }
    else
      ROS_ERROR_NAMED(LOGNAME, "Unable to remove shape handle %u", handle);
  }
  
  void point_containment_filter::ShapeMask::maskContainment(const sensor_msgs::PointCloud2& data_in,
                                                            const Eigen::Vector3d& /*sensor_origin*/,
                                                            const double min_sensor_dist, const double max_sensor_dist,
                                                            std::vector<int>& mask)
  {
    boost::mutex::scoped_lock _(shapes_lock_);
    const unsigned int np = data_in.data.size() / data_in.point_step;
    mask.resize(np);
  
    if (bodies_.empty())
      std::fill(mask.begin(), mask.end(), (int)OUTSIDE);
    else
    {
      Eigen::Isometry3d tmp;
      bspheres_.resize(bodies_.size());
      std::size_t j = 0;
      for (std::set<SeeShape>::const_iterator it = bodies_.begin(); it != bodies_.end(); ++it)
      {
        if (!transform_callback_(it->handle, tmp))
        {
          if (!it->body)
            ROS_ERROR_STREAM_NAMED(LOGNAME, "Missing transform for shape with handle " << it->handle << " without a body");
          else
            ROS_ERROR_STREAM_NAMED(LOGNAME, "Missing transform for shape " << it->body->getType() << " with handle "
                                                                           << it->handle);
        }
        else
        {
          it->body->setPose(tmp);
          it->body->computeBoundingSphere(bspheres_[j++]);
        }
      }
  
      // compute a sphere that bounds the entire robot
      bodies::BoundingSphere bound;
      bodies::mergeBoundingSpheres(bspheres_, bound);
      const double radius_squared = bound.radius * bound.radius;
  
      // we now decide which points we keep
      sensor_msgs::PointCloud2ConstIterator<float> iter_x(data_in, "x");
      sensor_msgs::PointCloud2ConstIterator<float> iter_y(data_in, "y");
      sensor_msgs::PointCloud2ConstIterator<float> iter_z(data_in, "z");
  
      // Cloud iterators are not incremented in the for loop, because of the pragma
      // Comment out below parallelization as it can result in very high CPU consumption
      //#pragma omp parallel for schedule(dynamic)
      for (int i = 0; i < (int)np; ++i)
      {
        Eigen::Vector3d pt = Eigen::Vector3d(*(iter_x + i), *(iter_y + i), *(iter_z + i));
        double d = pt.norm();
        int out = OUTSIDE;
        if (d < min_sensor_dist || d > max_sensor_dist)
          out = CLIP;
        else if ((bound.center - pt).squaredNorm() < radius_squared)
          for (std::set<SeeShape>::const_iterator it = bodies_.begin(); it != bodies_.end() && out == OUTSIDE; ++it)
            if (it->body->containsPoint(pt))
              out = INSIDE;
        mask[i] = out;
      }
    }
  }
  
  int point_containment_filter::ShapeMask::getMaskContainment(const Eigen::Vector3d& pt) const
  {
    boost::mutex::scoped_lock _(shapes_lock_);
  
    int out = OUTSIDE;
    for (std::set<SeeShape>::const_iterator it = bodies_.begin(); it != bodies_.end() && out == OUTSIDE; ++it)
      if (it->body->containsPoint(pt))
        out = INSIDE;
    return out;
  }
  
  int point_containment_filter::ShapeMask::getMaskContainment(double x, double y, double z) const
  {
    return getMaskContainment(Eigen::Vector3d(x, y, z));
  }
  