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#ifndef PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PARALLEL_LINE_H_
#define PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PARALLEL_LINE_H_

#include <pcl/sample_consensus/sac_model_parallel_line.h>

//////////////////////////////////////////////////////////////////////////
template <typename PointT> void
pcl::SampleConsensusModelParallelLine<PointT>::selectWithinDistance (
      const Eigen::VectorXf &model_coefficients, const double threshold, std::vector<int> &inliers)
{
  // Check if the model is valid given the user constraints
  if (!isModelValid (model_coefficients))
  {
    inliers.clear ();
    return;
  }

  SampleConsensusModelLine<PointT>::selectWithinDistance (model_coefficients, threshold, inliers);
}

//////////////////////////////////////////////////////////////////////////
template <typename PointT> int
pcl::SampleConsensusModelParallelLine<PointT>::countWithinDistance (
      const Eigen::VectorXf &model_coefficients, const double threshold)
{
  // Check if the model is valid given the user constraints
  if (!isModelValid (model_coefficients))
    return (0);

  return (SampleConsensusModelLine<PointT>::countWithinDistance (model_coefficients, threshold));
}

//////////////////////////////////////////////////////////////////////////
template <typename PointT> void
pcl::SampleConsensusModelParallelLine<PointT>::getDistancesToModel (
      const Eigen::VectorXf &model_coefficients, std::vector<double> &distances)
{
  // Check if the model is valid given the user constraints
  if (!isModelValid (model_coefficients))
  {
    distances.clear ();
    return;
  }

  SampleConsensusModelLine<PointT>::getDistancesToModel (model_coefficients, distances);
}

//////////////////////////////////////////////////////////////////////////
template <typename PointT> bool
pcl::SampleConsensusModelParallelLine<PointT>::isModelValid (const Eigen::VectorXf &model_coefficients)
{
  // Needs a valid model coefficients
  if (model_coefficients.size () != 6)
  {
    PCL_ERROR ("[pcl::SampleConsensusParallelLine::isModelValid] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
    return (false);
  }

  // Check against template, if given
  if (eps_angle_ > 0.0)
  {
    // Obtain the line direction
    Eigen::Vector4f line_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0);

    Eigen::Vector4f axis (axis_[0], axis_[1], axis_[2], 0);
    double angle_diff = fabs (getAngle3D (axis, line_dir));
    //angle_diff = (std::min) (angle_diff, M_PI - angle_diff);
    angle_diff = fabs (angle_diff - (M_PI/2.0));
    // Check whether the current plane model satisfies our angle threshold criterion with respect to the given axis
    if (angle_diff > eps_angle_)
      return (false);
  }

  return (true);
}

#define PCL_INSTANTIATE_SampleConsensusModelParallelLine(T) template class PCL_EXPORTS pcl::SampleConsensusModelParallelLine<T>;

#endif    // PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PARALLEL_LINE_H_

