#ifndef NAVIGATION_HPP
#define NAVIGATION_HPP

#include <string>
#include <memory>
#include <nlohmann/json.hpp>
#include "unitree/robot/client/client.hpp"

namespace custom {

class Navigation : public unitree::robot::Client {
public:
    Navigation();
    ~Navigation();

    void Init();

    bool startMapping();
    bool endMapping(const std::string& address);
    bool initializePose(double x, double y, double z, double q_x, double q_y, double q_z, double q_w, const std::string& address);
    bool poseNavigation(double x, double y, double z, double q_x, double q_y, double q_z, double q_w, int mode, double speed);
    bool pauseNavigation();
    bool resumeNavigation();
    bool closeSlam();

private:
    bool callSlamService(int api_id, const nlohmann::json& data);
};

} // namespace custom

#endif // NAVIGATION_HPP