/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2010, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the copyright holder(s) nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id$
 *
 */

#ifndef PCL_COMMON_H_
#define PCL_COMMON_H_

#include <pcl/pcl_base.h>
#include <cfloat>

/**
  * \file pcl/common/common.h
  * Define standard C methods and C++ classes that are common to all methods
  * \ingroup common
  */

/*@{*/
namespace pcl
{
  /** \brief Compute the smallest angle between two vectors in the [ 0, PI ) interval in 3D.
    * \param v1 the first 3D vector (represented as a \a Eigen::Vector4f)
    * \param v2 the second 3D vector (represented as a \a Eigen::Vector4f)
    * \return the angle between v1 and v2
    * \ingroup common
    */
  inline double 
  getAngle3D (const Eigen::Vector4f &v1, const Eigen::Vector4f &v2);

  /** \brief Compute both the mean and the standard deviation of an array of values
    * \param values the array of values
    * \param mean the resultant mean of the distribution
    * \param stddev the resultant standard deviation of the distribution
    * \ingroup common
    */
  inline void 
  getMeanStd (const std::vector<float> &values, double &mean, double &stddev);

  /** \brief Get a set of points residing in a box given its bounds
    * \param cloud the point cloud data message
    * \param min_pt the minimum bounds
    * \param max_pt the maximum bounds
    * \param indices the resultant set of point indices residing in the box
    * \ingroup common
    */
  template <typename PointT> inline void 
  getPointsInBox (const pcl::PointCloud<PointT> &cloud, Eigen::Vector4f &min_pt,
                  Eigen::Vector4f &max_pt, std::vector<int> &indices);

  /** \brief Get the point at maximum distance from a given point and a given pointcloud
    * \param cloud the point cloud data message
    * \param pivot_pt the point from where to compute the distance
    * \param max_pt the point in cloud that is the farthest point away from pivot_pt
    * \ingroup common
    */
  template<typename PointT> inline void
  getMaxDistance (const pcl::PointCloud<PointT> &cloud, const Eigen::Vector4f &pivot_pt, Eigen::Vector4f &max_pt);

  /** \brief Get the point at maximum distance from a given point and a given pointcloud
    * \param cloud the point cloud data message
    * \param pivot_pt the point from where to compute the distance
    * \param indices the vector of point indices to use from \a cloud
    * \param max_pt the point in cloud that is the farthest point away from pivot_pt
    * \ingroup common
    */
  template<typename PointT> inline void
  getMaxDistance (const pcl::PointCloud<PointT> &cloud, const std::vector<int> &indices, 
                  const Eigen::Vector4f &pivot_pt, Eigen::Vector4f &max_pt);

  /** \brief Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud
    * \param cloud the point cloud data message
    * \param min_pt the resultant minimum bounds
    * \param max_pt the resultant maximum bounds
    * \ingroup common
    */
  template <typename PointT> inline void 
  getMinMax3D (const pcl::PointCloud<PointT> &cloud, PointT &min_pt, PointT &max_pt);
  
  /** \brief Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud
    * \param cloud the point cloud data message
    * \param min_pt the resultant minimum bounds
    * \param max_pt the resultant maximum bounds
    * \ingroup common
    */
  template <typename PointT> inline void 
  getMinMax3D (const pcl::PointCloud<PointT> &cloud, 
               Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt);

  /** \brief Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud
    * \param cloud the point cloud data message
    * \param indices the vector of point indices to use from \a cloud
    * \param min_pt the resultant minimum bounds
    * \param max_pt the resultant maximum bounds
    * \ingroup common
    */
  template <typename PointT> inline void 
  getMinMax3D (const pcl::PointCloud<PointT> &cloud, const std::vector<int> &indices, 
               Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt);

  /** \brief Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud
    * \param cloud the point cloud data message
    * \param indices the vector of point indices to use from \a cloud
    * \param min_pt the resultant minimum bounds
    * \param max_pt the resultant maximum bounds
    * \ingroup common
    */
  template <typename PointT> inline void 
  getMinMax3D (const pcl::PointCloud<PointT> &cloud, const pcl::PointIndices &indices, 
               Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt);

  /** \brief Compute the radius of a circumscribed circle for a triangle formed of three points pa, pb, and pc
    * \param pa the first point
    * \param pb the second point
    * \param pc the third point
    * \return the radius of the circumscribed circle
    * \ingroup common
    */
  template <typename PointT> inline double 
  getCircumcircleRadius (const PointT &pa, const PointT &pb, const PointT &pc);

  /** \brief Get the minimum and maximum values on a point histogram
    * \param histogram the point representing a multi-dimensional histogram
    * \param len the length of the histogram
    * \param min_p the resultant minimum 
    * \param max_p the resultant maximum 
    * \ingroup common
    */
  template <typename PointT> inline void 
  getMinMax (const PointT &histogram, int len, float &min_p, float &max_p);

  /** \brief Calculate the area of a polygon given a point cloud that defines the polygon 
	  * \param polygon point cloud that contains those vertices that comprises the polygon. Vertices are stored in counterclockwise.
	  * \return the polygon area 
	  * \ingroup common
	  */
  template<typename PointT> inline float
  calculatePolygonArea (const pcl::PointCloud<PointT> &polygon);

  /** \brief Get the minimum and maximum values on a point histogram
    * \param cloud the cloud containing multi-dimensional histograms
    * \param idx point index representing the histogram that we need to compute min/max for
    * \param field_name the field name containing the multi-dimensional histogram
    * \param min_p the resultant minimum 
    * \param max_p the resultant maximum 
    * \ingroup common
    */
  PCL_EXPORTS void 
  getMinMax (const pcl::PCLPointCloud2 &cloud, int idx, const std::string &field_name,
             float &min_p, float &max_p);

  /** \brief Compute both the mean and the standard deviation of an array of values
    * \param values the array of values
    * \param mean the resultant mean of the distribution
    * \param stddev the resultant standard deviation of the distribution
    * \ingroup common
    */
  PCL_EXPORTS void
  getMeanStdDev (const std::vector<float> &values, double &mean, double &stddev);

}
/*@}*/
#include <pcl/common/impl/common.hpp>

#endif  //#ifndef PCL_COMMON_H_
