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 *  Point Cloud Library (PCL) - www.pointclouds.org
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 * $Id: planar_polygon.h 4696 2012-02-23 06:12:55Z rusu $
 *
 */

#ifndef PCL_GEOMETRY_PLANAR_POLYGON_H_
#define PCL_GEOMETRY_PLANAR_POLYGON_H_


#include <pcl/common/eigen.h>
#include <pcl/point_cloud.h>
#include <pcl/ModelCoefficients.h>

namespace pcl
{
  /** \brief PlanarPolygon represents a planar (2D) polygon, potentially in a 3D space.
    * \author Alex Trevor 
    */
  template <typename PointT>
  class PlanarPolygon
  {
    public:
      typedef boost::shared_ptr<PlanarPolygon<PointT> > Ptr;
      typedef boost::shared_ptr<const PlanarPolygon<PointT> > ConstPtr;

       /** \brief Empty constructor for PlanarPolygon */
      PlanarPolygon () : contour_ (), coefficients_ ()
      {}
      
      /** \brief Constructor for PlanarPolygon
        * \param[in] contour a vector of points bounding the polygon
        * \param[in] coefficients a vector of the plane's coefficients (a,b,c,d)
        */
      PlanarPolygon (typename pcl::PointCloud<PointT>::VectorType &contour,
                     Eigen::Vector4f& coefficients) 
        : contour_ (contour), coefficients_ (coefficients)
      {}
      
      /** \brief Destructor. */
      virtual ~PlanarPolygon () {}

      /** \brief Set the internal contour
        * \param[in] contour the new planar polygonal contour
        */
      void
      setContour (const pcl::PointCloud<PointT> &contour)
      {
        contour_ = contour.points;
      }

      /** \brief Getter for the contour / boundary */
      typename pcl::PointCloud<PointT>::VectorType&
      getContour ()
      {
        return (contour_);
      }
      
      /** \brief Getter for the contour / boundary */
      const typename pcl::PointCloud<PointT>::VectorType&
      getContour () const
      {
        return (contour_);
      }

      /** \brief Setr the internal coefficients
        * \param[in] coefficients the new coefficients to be set 
        */
      void
      setCoefficients (const Eigen::Vector4f &coefficients)
      {
        coefficients_ = coefficients;
      }

      /** \brief Set the internal coefficients
        * \param[in] coefficients the new coefficients to be set 
        */
      void
      setCoefficients (const pcl::ModelCoefficients &coefficients)
      {
        for (int i = 0; i < 4; i++)
          coefficients_[i] = coefficients.values.at (i);
      }

      /** \brief Getter for the coefficients */
      Eigen::Vector4f&
      getCoefficients ()
      {
        return (coefficients_);
      }

      /** \brief Getter for the coefficients */
      const Eigen::Vector4f&
      getCoefficients () const
      {
        return (coefficients_);
      }
      
    protected:
      /** \brief A list of points on the boundary/contour of the planar region. */
      typename pcl::PointCloud<PointT>::VectorType contour_;
      
      /** \brief A list of model coefficients (a,b,c,d). */
      Eigen::Vector4f coefficients_;
    
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

#endif  //#ifndef PCL_GEOMETRY_PLANAR_POLYGON_H_

