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#ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_FEATURES_HPP_
#define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_FEATURES_HPP_

//////////////////////////////////////////////////////////////////////////////////////////////
template <typename FeatureT> inline void 
pcl::registration::CorrespondenceRejectorFeatures::setSourceFeature (
    const typename pcl::PointCloud<FeatureT>::ConstPtr &source_feature, const std::string &key)
{
  if (features_map_.count (key) == 0)
    features_map_[key].reset (new FeatureContainer<FeatureT>);
  boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->setSourceFeature (source_feature);
}

//////////////////////////////////////////////////////////////////////////////////////////////
template <typename FeatureT> inline typename pcl::PointCloud<FeatureT>::ConstPtr 
pcl::registration::CorrespondenceRejectorFeatures::getSourceFeature (const std::string &key)
{
  if (features_map_.count (key) == 0)
    return (boost::shared_ptr<pcl::PointCloud<const FeatureT> > ());
  else
    return (boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->getSourceFeature ());
}

//////////////////////////////////////////////////////////////////////////////////////////////
template <typename FeatureT> inline void 
pcl::registration::CorrespondenceRejectorFeatures::setTargetFeature (
    const typename pcl::PointCloud<FeatureT>::ConstPtr &target_feature, const std::string &key)
{
  if (features_map_.count (key) == 0)
    features_map_[key].reset (new FeatureContainer<FeatureT>);
  boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->setTargetFeature (target_feature);
}

//////////////////////////////////////////////////////////////////////////////////////////////
template <typename FeatureT> inline typename pcl::PointCloud<FeatureT>::ConstPtr 
pcl::registration::CorrespondenceRejectorFeatures::getTargetFeature (const std::string &key)
{
  if (features_map_.count (key) == 0)
    return (boost::shared_ptr<const pcl::PointCloud<FeatureT> > ());
  else
    return (boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->getTargetFeature ());
}

//////////////////////////////////////////////////////////////////////////////////////////////
template <typename FeatureT> inline void 
pcl::registration::CorrespondenceRejectorFeatures::setDistanceThreshold (
    double thresh, const std::string &key)
{
  if (features_map_.count (key) == 0)
    features_map_[key].reset (new FeatureContainer<FeatureT>);
  boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->setDistanceThreshold (thresh);
}



//////////////////////////////////////////////////////////////////////////////////////////////
template <typename FeatureT> inline void 
pcl::registration::CorrespondenceRejectorFeatures::setFeatureRepresentation (
  const typename pcl::PointRepresentation<FeatureT>::ConstPtr &fr,
  const std::string &key)
{
  if (features_map_.count (key) == 0)
    features_map_[key].reset (new FeatureContainer<FeatureT>);
  boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->setFeatureRepresentation (fr);
}


#endif /* PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_FEATURES_HPP_ */
