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 *  Point Cloud Library (PCL) - www.pointclouds.org
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#ifndef PCL_PLANE_CLIPPER3D_H_
#define PCL_PLANE_CLIPPER3D_H_
#include "clipper3D.h"

namespace pcl
{
  /**
   * @author Suat Gedikli <gedikli@willowgarage.com>
   * @brief Implementation of a plane clipper in 3D
   * \ingroup filters
   */
  template<typename PointT>
  class PlaneClipper3D : public Clipper3D<PointT>
  {
    public:

      typedef boost::shared_ptr< PlaneClipper3D<PointT> > Ptr;
      typedef boost::shared_ptr< const PlaneClipper3D<PointT> > ConstPtr;

      /**
       * @author Suat Gedikli <gedikli@willowgarage.com>
       * @brief Constructor taking the homogeneous representation of the plane as a Eigen::Vector4f
       * @param[in] plane_params plane parameters, need not necessarily be normalized
       */
      PlaneClipper3D (const Eigen::Vector4f& plane_params);

      virtual ~PlaneClipper3D () throw ();

      /**
        * \brief Set new plane parameters
        * \param plane_params
        */
      void setPlaneParameters (const Eigen::Vector4f& plane_params);

      /**
        * \brief return the current plane parameters
        * \return the current plane parameters
        */
      const Eigen::Vector4f& getPlaneParameters () const;

      virtual bool
      clipPoint3D (const PointT& point) const;

      virtual bool
      clipLineSegment3D (PointT& from, PointT& to) const;

      virtual void
      clipPlanarPolygon3D (std::vector<PointT, Eigen::aligned_allocator<PointT> >& polygon) const;

      virtual void
      clipPlanarPolygon3D (const std::vector<PointT, Eigen::aligned_allocator<PointT> >& polygon, std::vector<PointT, Eigen::aligned_allocator<PointT> >& clipped_polygon) const;

      virtual void
      clipPointCloud3D (const pcl::PointCloud<PointT> &cloud_in, std::vector<int>& clipped, const std::vector<int>& indices = std::vector<int> ()) const;

      virtual Clipper3D<PointT>*
      clone () const;

    protected:
      float
      getDistance (const PointT& point) const;

    private:
      Eigen::Vector4f plane_params_;
  };
}

#include <pcl/filters/impl/plane_clipper3D.hpp>

#endif // PCL_PLANE_CLIPPER3D_H_
