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#ifndef DART_DYNAMICS_SHAPENODE_HPP_
#define DART_DYNAMICS_SHAPENODE_HPP_

#include <Eigen/Dense>

#include "dart/common/Signal.hpp"
#include "dart/dynamics/detail/ShapeNode.hpp"

namespace dart {
namespace dynamics {

class VisualAspect;
class CollisionAspect;
class DynamicsAspect;

class ShapeNode : public detail::ShapeNodeCompositeBase
{
public:
  friend class BodyNode;

  using ShapeUpdatedSignal = common::Signal<void(
      const ShapeNode* thisShapeNode,
      const ShapePtr& oldShape,
      const ShapePtr& newShape)>;

  using RelativeTransformUpdatedSignal = common::Signal<void(
      const ShapeNode* thisShapeNode,
      const Eigen::Isometry3d& oldTransform,
      const Eigen::Isometry3d& newTransform)>;

  using BasicProperties
      = common::Composite::MakeProperties<NameAspect, FixedFrame, ShapeFrame>;

  using Properties = common::Composite::Properties;

  /// Destructor
  virtual ~ShapeNode() = default;

  /// Set the Properties of this ShapeNode
  void setProperties(const Properties& properties);

  /// Get the Properties of this ShapeNode
  const Properties getShapeNodeProperties() const;

  /// Copy the properties of another ShapeNode
  void copy(const ShapeNode& other);

  /// Copy the properties of another ShapeNode
  void copy(const ShapeNode* other);

  /// Same as copy(const ShapeNode&)
  ShapeNode& operator=(const ShapeNode& other);

  /// Set transformation of this shape node relative to the parent frame
  void setRelativeTransform(const Eigen::Isometry3d& transform) override;

  /// Set rotation of this shape node relative to the parent frame
  void setRelativeRotation(const Eigen::Matrix3d& rotation);

  /// Get rotation of this shape node relative to the parent frame
  Eigen::Matrix3d getRelativeRotation() const;

  /// Set translation of this shape node relative to the parent frame
  void setRelativeTranslation(const Eigen::Vector3d& translation);

  /// Same as setRelativeTranslation(offset)
  void setOffset(const Eigen::Vector3d& offset);

  /// Get translation of this shape node relative to the parent frame
  Eigen::Vector3d getRelativeTranslation() const;

  /// Same as getRelativeTranslation()
  Eigen::Vector3d getOffset() const;

  // Documentation inherited
  ShapeNode* asShapeNode() override;

  // Documentation inherited
  const ShapeNode* asShapeNode() const override;

  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

protected:
  /// Constructor used by the Skeleton class
  ShapeNode(BodyNode* bodyNode, const BasicProperties& properties);

  /// Constructor used by the Skeleton class
  ShapeNode(
      BodyNode* bodyNode,
      const ShapePtr& shape,
      const std::string& name = "ShapeNode");

  /// Create a clone of this ShapeNode. This may only be called by the Skeleton
  /// class.
  Node* cloneNode(BodyNode* parent) const override;
};

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_SHAPENODE_HPP_
