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#ifndef BIVARIATE_POLYNOMIAL_H
#define BIVARIATE_POLYNOMIAL_H

#include <fstream>
#include <iostream>

namespace pcl 
{
  /** \brief This represents a bivariate polynomial and provides some functionality for it
    * \author Bastian Steder 
    * \ingroup common
    */
  template<typename real>
  class BivariatePolynomialT 
  {
    public:
      //-----CONSTRUCTOR&DESTRUCTOR-----
      /** Constructor */
      BivariatePolynomialT (int new_degree=0);
      /** Copy constructor */
      BivariatePolynomialT (const BivariatePolynomialT& other);
      /** Destructor */
      ~BivariatePolynomialT ();

      //-----OPERATORS-----
      /** = operator */
      BivariatePolynomialT&
      operator= (const BivariatePolynomialT& other) { deepCopy (other); return *this;}

      //-----METHODS-----
      /** Initialize members to default values */
      void
      setDegree (int new_degree);

      /** How many parametes has a bivariate polynomial with this degree */
      unsigned int
      getNoOfParameters () const { return getNoOfParametersFromDegree (degree);}

      /** Calculate the value of the polynomial at the given point */
      real
      getValue (real x, real y) const;  

      /** Calculate the gradient of this polynomial
       *  If forceRecalc is false, it will do nothing when the gradient already exists */
      void
      calculateGradient (bool forceRecalc=false);

      /** Calculate the value of the gradient at the given point */
      void
      getValueOfGradient (real x, real y, real& gradX, real& gradY);

      /** Returns critical points of the polynomial. type can be 0=maximum, 1=minimum, or 2=saddle point
       *  !!Currently only implemented for degree 2!! */
      void
      findCriticalPoints (std::vector<real>& x_values, std::vector<real>& y_values, std::vector<int>& types) const;
      
      /** write as binary to a stream */
      void
      writeBinary (std::ostream& os) const;

      /** write as binary into a file */
      void
      writeBinary (const char* filename) const;

      /** read binary from a stream */
      void
      readBinary (std::istream& os);

      /** read binary from a file */
      void
      readBinary (const char* filename);
      
      /** How many parametes has a bivariate polynomial of the given degree */
      static unsigned int
      getNoOfParametersFromDegree (int n) { return ((n+2)* (n+1))/2;}

      //-----VARIABLES-----
      int degree;
      real* parameters;
      BivariatePolynomialT<real>* gradient_x, * gradient_y;
      
    protected:
      //-----METHODS-----
      /** Delete all members */
      void
      memoryCleanUp ();

      /** Create a deep copy of the given polynomial */
      void
      deepCopy (const BivariatePolynomialT<real>& other);
    //-----VARIABLES-----
  };

  template<typename real>
  std::ostream&
    operator<< (std::ostream& os, const BivariatePolynomialT<real>& p);

  typedef BivariatePolynomialT<double> BivariatePolynomiald;
  typedef BivariatePolynomialT<float>  BivariatePolynomial;

}  // end namespace

#include <pcl/common/impl/bivariate_polynomial.hpp>

#endif
