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#pragma once

#include <pcl/registration/eigen.h>
#include <pcl/registration/warp_point_rigid.h>

namespace pcl
{
  namespace registration
  {
    /** \brief @b WarpPointRigid3D enables 3D (1D rotation + 2D translation) 
      * transformations for points.
      * 
      * \note The class is templated on the source and target point types as well as on the output scalar of the transformation matrix (i.e., float or double). Default: float.
      * \author Radu B. Rusu
      * \ingroup registration
      */
    template <typename PointSourceT, typename PointTargetT, typename Scalar = float>
    class WarpPointRigid3D : public WarpPointRigid<PointSourceT, PointTargetT, Scalar>
    {
      public:
        using Matrix4 = typename WarpPointRigid<PointSourceT, PointTargetT, Scalar>::Matrix4;
        using VectorX = typename WarpPointRigid<PointSourceT, PointTargetT, Scalar>::VectorX;

        using Ptr = shared_ptr<WarpPointRigid3D<PointSourceT, PointTargetT, Scalar> >;
        using ConstPtr = shared_ptr<const WarpPointRigid3D<PointSourceT, PointTargetT, Scalar> >;

        /** \brief Constructor. */
        WarpPointRigid3D () : WarpPointRigid<PointSourceT, PointTargetT, Scalar> (3) {}
      
        /** \brief Empty destructor */
        ~WarpPointRigid3D () {}

        /** \brief Set warp parameters. 
          * \param[in] p warp parameters (tx ty rz)
          */
        void 
        setParam (const VectorX & p) override
        {
          assert (p.rows () == this->getDimension ());
          Matrix4 &trans = this->transform_matrix_;

          trans = Matrix4::Zero ();
          trans (3, 3) = 1;
          trans (2, 2) = 1; // Rotation around the Z-axis

          // Copy the rotation and translation components
          trans.block (0, 3, 4, 1) = Eigen::Matrix<Scalar, 4, 1> (p[0], p[1], 0, 1.0);

          // Compute w from the unit quaternion
          Eigen::Rotation2D<Scalar> r (p[2]);
          trans.topLeftCorner (2, 2) = r.toRotationMatrix ();
        }
    };
  }
}
