/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2015, Michael 'v4hn' Goerner
 *  Copyright (c) 2015-, Open Perception, Inc.
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 *
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 *     notice, this list of conditions and the following disclaimer.
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 *     copyright notice, this list of conditions and the following
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 *     with the distribution.
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 *     from this software without specific prior written permission.
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#ifndef PCL_REGISTRATION_IMPL_INCREMENTAL_REGISTRATION_HPP_
#define PCL_REGISTRATION_IMPL_INCREMENTAL_REGISTRATION_HPP_

template <typename PointT, typename Scalar>
pcl::registration::IncrementalRegistration<PointT, Scalar>::IncrementalRegistration () :
  delta_transform_ (Matrix4::Identity ()),
  abs_transform_ (Matrix4::Identity ())
{}

template <typename PointT, typename Scalar> bool
pcl::registration::IncrementalRegistration<PointT, Scalar>::registerCloud (const PointCloudConstPtr& cloud, const Matrix4& delta_estimate)
{
  assert (registration_);

  if (!last_cloud_)
  {
    last_cloud_ = cloud;
    abs_transform_ = delta_transform_ = delta_estimate;
    return (true);
  }

  registration_->setInputSource (cloud);
  registration_->setInputTarget (last_cloud_);

  {
  pcl::PointCloud<PointT> p;
  registration_->align (p, delta_estimate);
  }

  bool converged = registration_->hasConverged ();

  if ( converged ){
    delta_transform_ = registration_->getFinalTransformation ();
    abs_transform_ = abs_transform_ * delta_transform_;
    last_cloud_ = cloud;
  }

  return (converged);
}

template <typename PointT, typename Scalar> inline typename pcl::registration::IncrementalRegistration<PointT, Scalar>::Matrix4
pcl::registration::IncrementalRegistration<PointT, Scalar>::getDeltaTransform () const
{
  return (delta_transform_);
}

template <typename PointT, typename Scalar> inline typename pcl::registration::IncrementalRegistration<PointT, Scalar>::Matrix4
pcl::registration::IncrementalRegistration<PointT, Scalar>::getAbsoluteTransform () const
{
  return (abs_transform_);
}

template <typename PointT, typename Scalar> inline void
pcl::registration::IncrementalRegistration<PointT, Scalar>::reset ()
{
  last_cloud_.reset ();
  delta_transform_ = abs_transform_ = Matrix4::Identity ();
}

template <typename PointT, typename Scalar> inline void
pcl::registration::IncrementalRegistration<PointT, Scalar>::setRegistration (RegistrationPtr registration)
{
  registration_ = registration;
}

#endif /*PCL_REGISTRATION_IMPL_INCREMENTAL_REGISTRATION_HPP_*/
