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#pragma once
#include <Eigen/Dense>
#include <Eigen/SparseCore>

#include "spark_dsg/scene_graph_types.h"
#include "spark_dsg/spark_dsg_fwd.h"

namespace spark_dsg {

using SparseMatrixXd = Eigen::SparseMatrix<double>;
using WeightFunc = std::function<double(NodeId, NodeId)>;

Eigen::MatrixXd getAdjacencyMatrix(const SceneGraphLayer& layer,
                                   const std::map<NodeId, size_t>& ordering,
                                   const WeightFunc& weight_func);

Eigen::MatrixXd getLaplacian(const SceneGraphLayer& layer,
                             const std::map<NodeId, size_t>& ordering,
                             const WeightFunc& weight_func);

inline Eigen::MatrixXd getAdjacencyMatrix(const SceneGraphLayer& layer,
                                          const std::map<NodeId, size_t>& ordering) {
  return getAdjacencyMatrix(layer, ordering, [](NodeId, NodeId) { return 1.0; });
}

inline Eigen::MatrixXd getLaplacian(const SceneGraphLayer& layer,
                                    const std::map<NodeId, size_t>& ordering) {
  return getLaplacian(layer, ordering, [](NodeId, NodeId) { return 1.0; });
}

SparseMatrixXd getSparseAdjacencyMatrix(const SceneGraphLayer& layer,
                                        const std::map<NodeId, size_t>& ordering,
                                        const WeightFunc& weight_func);

SparseMatrixXd getSparseLaplacian(const SceneGraphLayer& layer,
                                  const std::map<NodeId, size_t>& ordering,
                                  const WeightFunc& weight_func);

inline SparseMatrixXd getSparseAdjacencyMatrix(
    const SceneGraphLayer& layer, const std::map<NodeId, size_t>& ordering) {
  return getSparseAdjacencyMatrix(layer, ordering, [](NodeId, NodeId) { return 1.0; });
}

inline SparseMatrixXd getSparseLaplacian(const SceneGraphLayer& layer,
                                         const std::map<NodeId, size_t>& ordering) {
  return getSparseLaplacian(layer, ordering, [](NodeId, NodeId) { return 1.0; });
}

}  // namespace spark_dsg
