/*
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 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2014-, Open Perception, Inc.
 *  Copyright (C) 2008 Ben Gurion University of the Negev, Beer Sheva, Israel.
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#ifndef PCL_REGISTRATION_MATCHING_CANDIDATE_H_
#define PCL_REGISTRATION_MATCHING_CANDIDATE_H_

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

namespace pcl
{
  namespace registration
  {
    /** \brief Container for matching candidate consisting of
    *
    * * fitness score value as a result of the matching algorithm
    * * correspondences between source and target data set
    * * transformation matrix calculated based on the correspondences
    *
    */
    struct MatchingCandidate
    {
      /** \brief Constructor. */
      MatchingCandidate () :
        fitness_score (FLT_MAX),
        correspondences (),
        transformation (Eigen::Matrix4f::Identity ())
      {};

      /** \brief Value constructor. */
      MatchingCandidate (float s, const pcl::Correspondences &c, const Eigen::Matrix4f &m) :
        fitness_score (s),
        correspondences (c),
        transformation (m)
      {};

      /** \brief Destructor. */
      ~MatchingCandidate ()
      {};


      /** \brief Fitness score of current candidate resulting from matching algorithm. */
      float fitness_score;

      /** \brief Correspondences between source <-> target. */
      pcl::Correspondences correspondences;

      /** \brief Corresponding transformation matrix retrieved using \a corrs. */
      Eigen::Matrix4f transformation;

      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    };

    typedef std::vector<MatchingCandidate, Eigen::aligned_allocator<MatchingCandidate> > MatchingCandidates;

    /** \brief Sorting of candidates based on fitness score value. */
    struct by_score
    {
      /** \brief Operator used to sort candidates based on fitness score. */
      bool operator () (MatchingCandidate const &left, MatchingCandidate const &right)
      {
        return (left.fitness_score < right.fitness_score);
      }
    };

  };  // namespace registration
}; // namespace pcl


#endif // PCL_REGISTRATION_MATCHING_CANDIDATE_H_
