/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2012, Willow Garage, Inc.
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 * $Id$
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#pragma once

#include <pcl/outofcore/outofcore_iterator_base.h>
namespace pcl
{
  namespace outofcore
  {
    /** \class OutofcoreDepthFirstIterator
     *
     *  \ingroup outofcore
     *  \author Stephen Fox (foxstephend@gmail.com)
     *  \note Code adapted from \ref octree_iterator.h in Module \ref pcl::octree written by Julius Kammerl
     */
    template<typename PointT=pcl::PointXYZ, typename ContainerT=OutofcoreOctreeDiskContainer<pcl::PointXYZ> >
    class OutofcoreDepthFirstIterator : public OutofcoreIteratorBase<PointT, ContainerT>
    {
      public:
        using OctreeDisk = pcl::outofcore::OutofcoreOctreeBase<ContainerT, PointT>;
        using OctreeDiskNode = pcl::outofcore::OutofcoreOctreeBaseNode<ContainerT, PointT>;

        using LeafNode = pcl::outofcore::OutofcoreOctreeBaseNode<ContainerT, PointT>;
        using BranchNode = pcl::outofcore::OutofcoreOctreeBaseNode<ContainerT, PointT>;

        explicit
        OutofcoreDepthFirstIterator (OctreeDisk& octree_arg);

        
        ~OutofcoreDepthFirstIterator ();
      
        OutofcoreDepthFirstIterator&
        operator++ ();
      
        inline OutofcoreDepthFirstIterator
        operator++ (int)
        {
          OutofcoreDepthFirstIterator _Tmp = *this;
          ++*this;
          return (_Tmp);
        }
      
        void
        skipChildVoxels ();
      
      protected:
        unsigned char currentChildIdx_;
        std::vector<std::pair<OctreeDiskNode*, unsigned char> > stack_;
    };
  }
}
