#include <ros/ros.h>
#include <eigen3/Eigen/Dense>
#include <opencv2/core/core.hpp>
#include "poppy_ros/ik.h" // Replace with the actual path to the service header file

// Assuming Kinematics is a class that encapsulates inverse kinematics calculations
class Kinematics {
public:
    Eigen::VectorXd inverseKinematics(const Eigen::Matrix4d &target_transform) {
        // Placeholder for IK calculation
        // Return the calculated joint values as Eigen::VectorXd
    }

    // Additional methods to load DH parameters and IK configurations
    void loadDHParameters(/* parameters */) {
        // Load DH parameters
    }

    void loadIKConfigurations(/* parameters */) {
        // Load IK configurations
    }
};

Kinematics kinematics;

bool ikServiceCallback(poppy_ros::ik::Request &req, poppy_ros::ik::Response &res) {
    // Convert ROS message types to Eigen types
    Eigen::Matrix4d target_transform;
    // Assuming that req.position and req.orientation need to be converted to a 4x4 transformation matrix
    // You'll need to implement this conversion based on your specific requirements

    Eigen::VectorXd joint_values = kinematics.inverseKinematics(target_transform);
    // Convert Eigen::VectorXd to std_msgs::Float64MultiArray
    res.joint_values.data = std::vector<double>(joint_values.data(), joint_values.data() + joint_values.size());
    return true;
}

int main(int argc, char** argv) {
    ros::init(argc, argv, "ik_server");
    ros::NodeHandle nh;

    // Load DH and IK parameters into kinematics object
    // kinematics.loadDHParameters(...);
    // kinematics.loadIKConfigurations(...);

    ros::ServiceServer service = nh.advertiseService("ik", ikServiceCallback);
    ROS_INFO("IK Server Ready.");
    
    ros::spin();

    return 0;
}