/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, Willow Garage, Inc.
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id$
 */

#pragma once

#include <pcl/octree/octree_pointcloud.h>

namespace pcl {
namespace octree {

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/** \brief @b Octree pointcloud occupancy class
 * \tparam PointT type of point used in pointcloud
 * This pointcloud octree class generate an octrees from a point cloud (zero-copy). No
 * information is stored at the lead nodes. It can be used of occupancy checks.
 * \note The octree pointcloud is initialized with its voxel resolution. Its bounding
 * box is automatically adjusted or can be predefined.
 * \ingroup octree
 * \author Julius Kammerl (julius@kammerl.de)
 */
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT,
          typename LeafContainerT = OctreeContainerEmpty,
          typename BranchContainerT = OctreeContainerEmpty>
class OctreePointCloudOccupancy
: public OctreePointCloud<PointT,
                          LeafContainerT,
                          BranchContainerT,
                          OctreeBase<LeafContainerT, BranchContainerT>>

{

public:
  // public typedefs for single/double buffering
  using SingleBuffer =
      OctreePointCloudOccupancy<PointT, LeafContainerT, BranchContainerT>;
  using DoubleBuffer =
      OctreePointCloudOccupancy<PointT, LeafContainerT, BranchContainerT>;

  // public point cloud typedefs
  using PointCloud =
      typename OctreePointCloud<PointT, LeafContainerT, BranchContainerT>::PointCloud;
  using PointCloudPtr = typename OctreePointCloud<PointT,
                                                  LeafContainerT,
                                                  BranchContainerT>::PointCloudPtr;
  using PointCloudConstPtr =
      typename OctreePointCloud<PointT, LeafContainerT, BranchContainerT>::
          PointCloudConstPtr;

  /** \brief Constructor.
   *  \param resolution_arg:  octree resolution at lowest octree level
   * */
  OctreePointCloudOccupancy(const double resolution_arg)
  : OctreePointCloud<PointT,
                     LeafContainerT,
                     BranchContainerT,
                     OctreeBase<LeafContainerT, BranchContainerT>>(resolution_arg)
  {}

  /** \brief Empty class constructor. */

  ~OctreePointCloudOccupancy() {}

  /** \brief Set occupied voxel at point.
   *  \param point_arg:  input point
   * */
  void
  setOccupiedVoxelAtPoint(const PointT& point_arg)
  {
    OctreeKey key;

    // make sure bounding box is big enough
    this->adoptBoundingBoxToPoint(point_arg);

    // generate key
    this->genOctreeKeyforPoint(point_arg, key);

    // add point to octree at key
    this->createLeaf(key);
  }

  /** \brief Set occupied voxels at all points from point cloud.
   *  \param cloud_arg:  input point cloud
   * */
  void
  setOccupiedVoxelsAtPointsFromCloud(PointCloudPtr cloud_arg)
  {
    for (std::size_t i = 0; i < cloud_arg->points.size(); i++) {
      // check for NaNs
      if (isFinite(cloud_arg->points[i])) {
        // set voxel at point
        this->setOccupiedVoxelAtPoint(cloud_arg->points[i]);
      }
    }
  }
};
} // namespace octree

} // namespace pcl

#define PCL_INSTANTIATE_OctreePointCloudOccupancy(T)                                   \
  template class PCL_EXPORTS pcl::octree::OctreePointCloudOccupancy<T>;
