/*
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 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2012, Jeremie Papon
 *
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 *     with the distribution.
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 *  Author : jpapon@gmail.com
 *  Email  : jpapon@gmail.com
 */

#ifndef PCL_OCTREE_POINTCLOUD_ADJACENCY_CONTAINER_H_
#define PCL_OCTREE_POINTCLOUD_ADJACENCY_CONTAINER_H_

namespace pcl
{ 
  
  namespace octree
  {
    /** \brief @b Octree adjacency leaf container class- stores set of pointers to neighbors, number of points added, and a DataT value
    *    \note This class implements a leaf node that stores pointers to neighboring leaves
    *   \note This class also has a virtual computeData function, which is called by octreePointCloudAdjacency::addPointsFromInputCloud.
    *   \note You should make explicit instantiations of it for your pointtype/datatype combo (if needed) see supervoxel_clustering.hpp for an example of this
    */
    template<typename PointInT, typename DataT = PointInT>
    class OctreePointCloudAdjacencyContainer : public OctreeContainerBase
    {
    public:
      typedef std::set<OctreePointCloudAdjacencyContainer*> NeighborSetT;
      //iterators to neighbors
      typedef typename NeighborSetT::iterator iterator;
      typedef typename NeighborSetT::const_iterator const_iterator;
      inline iterator begin () { return (neighbors_.begin ()); }
      inline iterator end ()   { return (neighbors_.end ()); }
      inline const_iterator begin () const { return (neighbors_.begin ()); }
      inline const_iterator end () const  { return (neighbors_.end ()); }
      //size of neighbors
      inline size_t size () const { return neighbors_.size (); }
      //insert for neighbors
      inline std::pair<iterator, bool> insert (OctreePointCloudAdjacencyContainer* neighbor) { return neighbors_.insert (neighbor); }
      
      /** \brief Class initialization. */
      OctreePointCloudAdjacencyContainer () :
      OctreeContainerBase ()
      {
        this->reset();       
      }
      
      /** \brief Empty class deconstructor. */
      virtual ~OctreePointCloudAdjacencyContainer ()
      {
      }
      
      /** \brief deep copy function */
      virtual OctreePointCloudAdjacencyContainer *
      deepCopy () const
      {
        OctreePointCloudAdjacencyContainer *new_container = new OctreePointCloudAdjacencyContainer;
        new_container->setNeighbors (this->neighbors_);
        new_container->setPointCounter (this->num_points_);
        return new_container;
      }
      
      /** \brief Add new point to container- this just counts points
       * \note To actually store data in the leaves, need to specialize this
       * for your point and data type as in supervoxel_clustering.hpp
       * \param[in] new_point the new point to add  
       */
      void 
      addPoint (const PointInT& new_point)
      {
        using namespace pcl::common;
        ++num_points_;
      }
      
      /** \brief Function for working on data added. Base implementation does nothing 
       * */
      void
      computeData ()
      {
      }
      
      /** \brief Gets the number of points contributing to this leaf */
      int
      getPointCounter () const { return num_points_; }
      
      /** \brief Sets the number of points contributing to this leaf */
      void
      setPointCounter (int points_arg) { num_points_ = points_arg; }
      
      /** \brief Clear the voxel centroid */
      virtual void 
      reset ()
      {
        neighbors_.clear ();
        num_points_ = 0;
        data_ = DataT ();
      }
      
      /** \brief Add new neighbor to voxel.
       * \param[in] neighbor the new neighbor to add  
       */
      void 
      addNeighbor (OctreePointCloudAdjacencyContainer *neighbor)
      {
        neighbors_.insert (neighbor);
      }
      
      /** \brief Remove neighbor from neighbor set.
       * \param[in] neighbor the neighbor to remove
       */
      void 
      removeNeighbor (OctreePointCloudAdjacencyContainer *neighbor)
      {
        neighbors_.erase (neighbor);
        
      }
      
      /** \brief Returns the number of neighbors this leaf has
       *  \returns number of neighbors
       */
      size_t 
      getNumNeighbors () const
      {
        return neighbors_.size ();
      }
      
      /** \brief Sets the whole neighbor set
       * \param[in] neighbor_arg the new set
       */
      void
      setNeighbors (const NeighborSetT &neighbor_arg)
      {
        neighbors_ = neighbor_arg;
      }
      
      /** \brief Returns a reference to the data member to access it without copying */
      DataT&
      getData () { return data_; }
      
      /** \brief Sets the data member
       *  \param[in] data_arg New value for data
       */
      void
      setData (const DataT& data_arg) { data_ = data_arg;}
      
      /** \brief  virtual method to get size of container 
       * \return number of points added to leaf node container.
       */
      virtual size_t
      getSize ()
      {
        return num_points_;
      }
      
      
    private:
      int num_points_;
      NeighborSetT neighbors_;
      DataT data_;
    };
  }
}

#endif