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#pragma once

#include <pcl/memory.h>
#include <pcl/pcl_macros.h>

namespace pcl
{
  namespace registration
  {
    /** \brief @b ConvergenceCriteria represents an abstract base class for
      * different convergence criteria used in registration loops.
      *
      * This should be used as part of an Iterative Closest Point (ICP)-like
      * method, to verify if the algorithm has reached convergence.
      *
      * Typical convergence criteria that could inherit from this include:
      * 
      *  * a maximum number of iterations has been reached
      *  * the transformation (R, t) cannot be further updated (the difference between current and previous is smaller than a threshold)
      *  * the Mean Squared Error (MSE) between the current set of correspondences and the previous one is smaller than some threshold
      *
      * \author Radu B. Rusu
      * \ingroup registration
      */
    class PCL_EXPORTS ConvergenceCriteria
    {
      public:
        using Ptr = shared_ptr<ConvergenceCriteria>;
        using ConstPtr = shared_ptr<const ConvergenceCriteria>;

        /** \brief Empty constructor. */
        ConvergenceCriteria () {}

        /** \brief Empty destructor. */
        virtual ~ConvergenceCriteria () {}

        /** \brief Check if convergence has been reached. Pure virtual. */
        virtual bool
        hasConverged () = 0;

        /** \brief Bool operator. */
        operator bool ()
        {
          return (hasConverged ());
        }
     };
  }
}
