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#ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_FEATURES_HPP_
#define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_FEATURES_HPP_

#include <boost/pointer_cast.hpp> // for static_pointer_cast

namespace pcl
{

namespace registration
{

template <typename FeatureT> inline void
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
CorrespondenceRejectorFeatures::getSourceFeature (const std::string &key)
{
  if (features_map_.count (key) == 0)
    return (nullptr);
  return (boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->getSourceFeature ());
}


template <typename FeatureT> inline void
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
CorrespondenceRejectorFeatures::getTargetFeature (const std::string &key)
{
  if (features_map_.count (key) == 0)
    return (nullptr);
  return (boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->getTargetFeature ());
}


template <typename FeatureT> inline void
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
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);
}

} // namespace registration
} // namespace pcl

#endif /* PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_FEATURES_HPP_ */

