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#ifndef DART_DYNAMICS_MARKER_HPP_
#define DART_DYNAMICS_MARKER_HPP_

#include <Eigen/Dense>

#include "dart/common/Deprecated.hpp"
#include "dart/dynamics/FixedJacobianNode.hpp"
#include "dart/dynamics/detail/MarkerAspect.hpp"

namespace dart {
namespace dynamics {

class BodyNode;

class Marker final : public common::EmbedPropertiesOnTopOf<
                         Marker,
                         detail::MarkerProperties,
                         FixedJacobianNode>
{
public:
  using ConstraintType = detail::MarkerProperties::ConstraintType;
  static constexpr ConstraintType NO = detail::MarkerProperties::NO;
  static constexpr ConstraintType HARD = detail::MarkerProperties::HARD;
  static constexpr ConstraintType SOFT = detail::MarkerProperties::SOFT;

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

  using Properties = common::Composite::Properties;

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

  /// Set the AspectProperties of this Marker
  void setAspectProperties(const AspectProperties& properties);

  /// Get the BodyNode this Marker belongs to
  ///
  /// Deprecated: Use getBodyNodePtr() instead
  DART_DEPRECATED(6.0)
  BodyNode* getBodyNode();

  /// Get the (const) BodyNode this Marker belongs to
  ///
  /// Deprecated: Use getBodyNodePtr() instead
  DART_DEPRECATED(6.0)
  const BodyNode* getBodyNode() const;

  /// Get position of this marker in the parent body node coordinates
  Eigen::Vector3d getLocalPosition() const;

  /// Set position of this marker in the parent body node coordinates
  void setLocalPosition(const Eigen::Vector3d& offset);

  /// Get position in the world coordinates
  Eigen::Vector3d getWorldPosition() const;

  /// Get global unique ID
  int getID() const;

  /// Set constraint type. which will be useful for inverse kinematics
  void setConstraintType(ConstraintType type);

  /// Get constraint type. which will be useful for inverse kinematics
  ConstraintType getConstraintType() const;

  /// Set the color of this Marker
  void setColor(const Eigen::Vector4d& color);

  /// Return color of this Marker
  const Eigen::Vector4d& getColor() const;

  friend class BodyNode;

protected:
  /// Constructor used by BodyNode
  Marker(BodyNode* parent, const BasicProperties& properties);

  // Documentation inherited
  Node* cloneNode(BodyNode* parent) const override;

private:
  /// Unique ID of this marker globally.
  int mID;

  /// Counts the number of markers globally.
  static int msMarkerCount;
};

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_MARKER_HPP_
