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#pragma once

#include <pcl/memory.h>
#include <pcl/pcl_macros.h>
#include <pcl/pcl_base.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/registration/registration.h>
#include <pcl/registration/boost.h>
#include <pcl/registration/eigen.h>
#include <pcl/registration/icp.h>
#include <pcl/registration/boost_graph.h>

namespace pcl
{
  namespace registration
  {
    /** \brief @b ELCH (Explicit Loop Closing Heuristic) class
      * \author Jochen Sprickerhof
      * \ingroup registration
      */
    template <typename PointT>
    class ELCH : public PCLBase<PointT>
    {
      public:
        using Ptr = shared_ptr<ELCH<PointT> >;
        using ConstPtr = shared_ptr<const ELCH<PointT> >;

        using PointCloud = pcl::PointCloud<PointT>;
        using PointCloudPtr = typename PointCloud::Ptr;
        using PointCloudConstPtr = typename PointCloud::ConstPtr;

        struct Vertex
        {
          Vertex () : cloud () {}
          PointCloudPtr cloud;
          Eigen::Affine3f transform;
        };

        /** \brief graph structure to hold the SLAM graph */
        using LoopGraph = boost::adjacency_list<
          boost::listS, boost::eigen_vecS, boost::undirectedS,
          Vertex,
          boost::no_property>;

        using LoopGraphPtr = shared_ptr<LoopGraph>;

        using Registration = pcl::Registration<PointT, PointT>;
        using RegistrationPtr = typename Registration::Ptr;
        using RegistrationConstPtr = typename Registration::ConstPtr;

        /** \brief Empty constructor. */
        ELCH () : 
          loop_graph_ (new LoopGraph), 
          loop_start_ (0), 
          loop_end_ (0), 
          reg_ (new pcl::IterativeClosestPoint<PointT, PointT>), 
          compute_loop_ (true),
          vd_ ()
        {};
      
        /** \brief Empty destructor */
        ~ELCH () {}

        /** \brief Add a new point cloud to the internal graph.
         * \param[in] cloud the new point cloud
         */
        inline void
        addPointCloud (PointCloudPtr cloud)
        {
          typename boost::graph_traits<LoopGraph>::vertex_descriptor vd = add_vertex (*loop_graph_);
          (*loop_graph_)[vd].cloud = cloud;
          if (num_vertices (*loop_graph_) > 1)
            add_edge (vd_, vd, *loop_graph_);
          vd_ = vd;
        }

        /** \brief Getter for the internal graph. */
        inline LoopGraphPtr
        getLoopGraph ()
        {
          return (loop_graph_);
        }

        /** \brief Setter for a new internal graph.
         * \param[in] loop_graph the new graph
         */
        inline void
        setLoopGraph (LoopGraphPtr loop_graph)
        {
          loop_graph_ = loop_graph;
        }

        /** \brief Getter for the first scan of a loop. */
        inline typename boost::graph_traits<LoopGraph>::vertex_descriptor
        getLoopStart ()
        {
          return (loop_start_);
        }

        /** \brief Setter for the first scan of a loop.
         * \param[in] loop_start the scan that starts the loop
         */
        inline void
        setLoopStart (const typename boost::graph_traits<LoopGraph>::vertex_descriptor &loop_start)
        {
          loop_start_ = loop_start;
        }

        /** \brief Getter for the last scan of a loop. */
        inline typename boost::graph_traits<LoopGraph>::vertex_descriptor
        getLoopEnd ()
        {
          return (loop_end_);
        }

        /** \brief Setter for the last scan of a loop.
         * \param[in] loop_end the scan that ends the loop
         */
        inline void
        setLoopEnd (const typename boost::graph_traits<LoopGraph>::vertex_descriptor &loop_end)
        {
          loop_end_ = loop_end;
        }

        /** \brief Getter for the registration algorithm. */
        inline RegistrationPtr
        getReg ()
        {
          return (reg_);
        }

        /** \brief Setter for the registration algorithm.
         * \param[in] reg the registration algorithm used to compute the transformation between the start and the end of the loop
         */
        inline void
        setReg (RegistrationPtr reg)
        {
          reg_ = reg;
        }

        /** \brief Getter for the transformation between the first and the last scan. */
        inline Eigen::Matrix4f
        getLoopTransform ()
        {
          return (loop_transform_);
        }

        /** \brief Setter for the transformation between the first and the last scan.
         * \param[in] loop_transform the transformation between the first and the last scan
         */
        inline void
        setLoopTransform (const Eigen::Matrix4f &loop_transform)
        {
          loop_transform_ = loop_transform;
          compute_loop_ = false;
        }

        /** \brief Computes new poses for all point clouds by closing the loop
         * between start and end point cloud. This will transform all given point
         * clouds for now!
         */
        void
        compute ();

      protected:
        using PCLBase<PointT>::deinitCompute;

        /** \brief This method should get called before starting the actual computation. */
        virtual bool
        initCompute ();

      private:
        /** \brief graph structure for the internal optimization graph */
        using LOAGraph = boost::adjacency_list<
          boost::listS, boost::vecS, boost::undirectedS,
          boost::no_property,
          boost::property< boost::edge_weight_t, double > >;

        /**
         * graph balancer algorithm computes the weights
         * @param[in] g the graph
         * @param[in] f index of the first node
         * @param[in] l index of the last node
         * @param[out] weights array for the weights
         */
        void
        loopOptimizerAlgorithm (LOAGraph &g, double *weights);

        /** \brief The internal loop graph. */
        LoopGraphPtr loop_graph_;

        /** \brief The first scan of the loop. */
        typename boost::graph_traits<LoopGraph>::vertex_descriptor loop_start_;

        /** \brief The last scan of the loop. */
        typename boost::graph_traits<LoopGraph>::vertex_descriptor loop_end_;

        /** \brief The registration object used to close the loop. */
        RegistrationPtr reg_;

        /** \brief The transformation between that start and end of the loop. */
        Eigen::Matrix4f loop_transform_;
        bool compute_loop_;

        /** \brief previously added node in the loop_graph_. */
        typename boost::graph_traits<LoopGraph>::vertex_descriptor vd_;

      public:
        PCL_MAKE_ALIGNED_OPERATOR_NEW
    };
  }
}

#include <pcl/registration/impl/elch.hpp>
