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#ifndef PCL_PAIRWISE_GRAPH_REGISTRATION_H_
#define PCL_PAIRWISE_GRAPH_REGISTRATION_H_

#include <pcl/registration/graph_registration.h>
#include <pcl/registration/registration.h>

namespace pcl
{
  /** \brief @b PairwiseGraphRegistration class aligns the clouds two by two
    * \author Nicola Fioraio
    * \ingroup registration
    */
  template <typename GraphT, typename PointT>
  class PairwiseGraphRegistration : public GraphRegistration<GraphT>
  {
    public:
      using GraphRegistration<GraphT>::graph_handler_;
      using GraphRegistration<GraphT>::last_aligned_vertex_;
      using GraphRegistration<GraphT>::last_vertices_;

      typedef typename Registration<PointT, PointT>::Ptr RegistrationPtr;
      typedef typename pcl::registration::GraphHandler<GraphT>::Vertex GraphHandlerVertex;

      /** \brief Empty destructor */
      virtual ~PairwiseGraphRegistration () {}


      /** \brief Empty constructor */
      PairwiseGraphRegistration () : registration_method_ (), incremental_ (true)
      {}
      /** \brief Constructor */
      PairwiseGraphRegistration (const RegistrationPtr& reg, bool incremental) : registration_method_ (reg), incremental_ (incremental)
      {}

      /** \brief Set the registration object */
      inline void
      setRegistrationMethod (const RegistrationPtr& reg)
      {
        registration_method_ = reg;
      }

      /** \brief Get the registration object */
      inline RegistrationPtr
      getRegistrationMethod ()
      {
        return registration_method_;
      }

      /** \brief If True the initial transformation is always set to the Identity */
      inline void
      setIncremental (bool incremental)
      {
        incremental_ = incremental;
      }

      /** \brief Is incremental ? */
      inline bool
      isIncremental () const
      {
        return incremental_;
      }

    protected:
      /** \brief The registration object */
      RegistrationPtr registration_method_;
      /** \brief If True the initial transformation is always set to the Identity */
      bool incremental_;

    private:
      /** \brief The registration method */
      virtual void
      computeRegistration ();
  };
}

#include <pcl/registration/impl/pairwise_graph_registration.hpp>

#endif // PCL_PAIRWISE_GRAPH_REGISTRATION_H_
