#ifndef IHANDEYECALIB_H
#define IHANDEYECALIB_H

#include <vector>

#include "HandEyeCalib_global.h"
#include "HandEyeCalibTypes.h"

// Public hand-eye calibration interface used by apps and tools in this repo.
// Keep this surface focused on workflows that are actually consumed.
class IHandEyeCalib
{
public:
    virtual ~IHandEyeCalib() = default;

    virtual int CalculateRT(const std::vector<HECPoint3D>& eyePoints,
                            const std::vector<HECPoint3D>& robotPoints,
                            HECCalibResult& result) = 0;

    virtual int CalculateRT(const std::vector<HECCalibPointPair>& pointPairs,
                            HECCalibResult& result) = 0;

    virtual void TransformPoint(const HECRotationMatrix& R,
                                const HECTranslationVector& T,
                                const HECPoint3D& srcPoint,
                                HECPoint3D& dstPoint) = 0;

    virtual void RotatePoint(const HECRotationMatrix& R,
                             const HECPoint3D& srcPoint,
                             HECPoint3D& dstPoint) = 0;

    virtual void RotationMatrixToEuler(const HECRotationMatrix& R,
                                       HECEulerOrder order,
                                       HECEulerAngles& angles) = 0;

    virtual void EulerToRotationMatrix(const HECEulerAngles& angles,
                                       HECEulerOrder order,
                                       HECRotationMatrix& R) = 0;

    virtual bool TransformPose(const HECCalibResult& calibResult,
                               const HECPoint3D& eyeCenter,
                               const HECPoint3D& longAxisDir,
                               const HECPoint3D& normalDir,
                               int dirVectorInvert,
                               HECEulerOrder eulerOrder,
                               HECLongAxisDir longAxisMapping,
                               HECPoseResult& poseResult) = 0;

    virtual double CalculateError(const std::vector<HECPoint3D>& eyePoints,
                                  const std::vector<HECPoint3D>& robotPoints,
                                  const HECCalibResult& calibResult) = 0;

    virtual int CalculateEyeInHand(const std::vector<HECEyeInHandData>& calibData,
                                   HECCalibResult& result) = 0;

    virtual int CalculateEyeInHandWithPose(const std::vector<HECEyeInHandPoseData>& calibData,
                                           HECCalibResult& result) = 0;

    // 将旋转矩阵安全地转换为指定顺序的欧拉角（带万向节锁处理和帧间连续性修正）
    // order: 目标欧拉角旋转顺序
    // prevAngles: 上一帧输出的角度指针，传入则启用帧间连续性修正，传nullptr则不修正
    virtual void RotationMatrixToEulerZYXSafe(const HECRotationMatrix& R,
                                              HECEulerOrder order,
                                              const HECEulerAngles* prevAngles,
                                              HECEulerAngles& angles) = 0;

    virtual HECTCPCalibResult CalculateTCP(const HECTCPCalibData& data) = 0;

    virtual int CalculateEyeToHandWithPose(const std::vector<HECEyeToHandData>& calibData,
                                           HECCalibResult& result) = 0;
};

IHandEyeCalib* CreateHandEyeCalibInstance();
void DestroyHandEyeCalibInstance(IHandEyeCalib* instance);

#endif // IHANDEYECALIB_H