#ifndef  main_INC
#define  main_INC

#include <cmath>
#include <cstdio>
#include <cstring>
#include <Eigen/Dense>
#include <istream>
#include <iostream>
#include <vector>

#include "types.h"
#include "body.h"
#include "camera.h"
#include "ourerr.hpp"
#include "state.h"
#include "vision.h"
//#define ROS_PUBLISH          /* Uncomment to publish ROS node */
//#define ROS_SUBSCRIBE            /* Uncomment to subscribe to ROS */

#define ANGBIASX 0.001107
#define ANGBIASY 0.008842
#define ANGBIASZ -0.001122
#define ACCBIASX -0.018000
#define ACCBIASY 0.012100
#define ACCBIASZ -0.010000


//#define ANGBIASX 1.019*-2.795871394666666222e-03            /*  */
//#define ANGBIASY .980*6.984255690000021506e-03
//#define ANGBIASZ 0.96*1.418145565750002614e-03

//#define ACCBIASX 0.95*-0.03713532
//#define ACCBIASY 0.65*0.01465135
//#define ACCBIASZ -1*-0.00709229

//#define ACCBIASX 0.99*-0.03713532
//#define ACCBIASY 0.2*0.01465135
//#define ACCBIASZ -1*-0.00709229

//#define ACCBIASX -0.03713532
//#define ACCBIASY 0.01465135
//#define ACCBIASZ -1*-0.00709229

//#define CANOECENTER 0.82            /* center of gravity of canoe  */
#define CANOECENTER 0.62            /* center of gravity of canoe  */
#define CANOEHEIGHT -0.46
//#define CANOEHEIGHT -0.75
#define DOWNSAMPLE 1            /*  */
#define HEIGHT_FROM_ATTITUDE    /* use the attitude to measure the height */
#define MEASURE_HEIGHT
#if  ROS_PUBLISH
#include <ros/ros.h>
#include <ros/geometry_msgs.h>
#endif     /* -----  ROS_PUBLISH  ----- */

using Eigen::Matrix;
using Eigen::Matrix3d;
using Eigen::Matrix4d;
using Eigen::Quaterniond;
using Eigen::Vector3d;

double aboveWater(const Quaterniond &q);
int parseLine(char *line, message *msg);
timestamp update_dt(const timestamp t, timestamp *t_old);

#if STATESIZE==13
void covCallback(const message &msg, State &mu, const attitude_t &att);
void imgCallback(message &msg, State &mu, Camera &cam);
void imuCallback(const message &msg, State &mu, const timestamp dt);
void utmCallback(const message &msg, State &mu);
#else
void covCallback(const message &msg, State &mu, const Quaterniond &q);
void imgCallback(message &msg, State &mu, Camera &cam, const Quaterniond &q);
void imuCallback(const message &msg, State &mu, const Quaterniond &q, const timestamp dt);
void utmCallback(const message &msg, State &mu, const Quaterniond &q);
#endif
void pvaCallback(const message &msg, Matrix<double,STATESIZE,1> &X, Quaterniond &q);
Matrix<double,4,3> attitude_jacobian(double roll, double pitch, double yaw);


#endif   /* ----- #ifndef main_INC  ----- */