/*
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 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2012, Willow Garage, Inc.
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 *     with the distribution.
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 *     from this software without specific prior written permission.
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 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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 * $Id: point_cloud.h 4696 2012-02-23 06:12:55Z rusu $
 *
 */

#pragma once

#include <pcl/tracking/tracking.h>
#include <pcl/memory.h>
#include <pcl/pcl_base.h>
#include <pcl/pcl_macros.h>
#include <pcl/search/search.h>

namespace pcl
{
	namespace tracking
  {
    /** \brief @b Tracker represents the base tracker class.
      * \author Ryohei Ueda
      * \ingroup tracking
      */
    template <typename PointInT, typename StateT>
    class Tracker: public PCLBase<PointInT>
    {
    protected:
      using PCLBase<PointInT>::deinitCompute;

    public:
      using PCLBase<PointInT>::indices_;
      using PCLBase<PointInT>::input_;

      using BaseClass = PCLBase<PointInT>;
      using Ptr = shared_ptr< Tracker<PointInT, StateT> >;
      using ConstPtr = shared_ptr< const Tracker<PointInT, StateT> >;

      using SearchPtr = typename pcl::search::Search<PointInT>::Ptr;
      using SearchConstPtr = typename pcl::search::Search<PointInT>::ConstPtr;

      using PointCloudIn = pcl::PointCloud<PointInT>;
      using PointCloudInPtr = typename PointCloudIn::Ptr;
      using PointCloudInConstPtr = typename PointCloudIn::ConstPtr;

      using PointCloudState = pcl::PointCloud<StateT>;
      using PointCloudStatePtr = typename PointCloudState::Ptr;
      using PointCloudStateConstPtr = typename PointCloudState::ConstPtr;

    public:
      /** \brief Empty constructor. */
      Tracker (): search_ () {}

      /** \brief Base method for tracking for all points given in
        * <setInputCloud (), setIndices ()> using the indices in setIndices ()
        */
      void
      compute ();

    protected:
      /** \brief The tracker name. */
      std::string tracker_name_;

      /** \brief A pointer to the spatial search object. */
      SearchPtr search_;

      /** \brief Get a string representation of the name of this class. */
      inline const std::string&
      getClassName () const { return (tracker_name_); }

      /** \brief This method should get called before starting the actual computation. */
      virtual bool
				initCompute ();

      /** \brief Provide a pointer to a dataset to add additional information
       * to estimate the features for every point in the input dataset.  This
       * is optional, if this is not set, it will only use the data in the
       * input cloud to estimate the features.  This is useful when you only
       * need to compute the features for a downsampled cloud.
       * \param search a pointer to a PointCloud message
       */
      inline void
      setSearchMethod (const SearchPtr &search) { search_ = search; }

      /** \brief Get a pointer to the point cloud dataset. */
      inline SearchPtr
      getSearchMethod () { return (search_); }

      /** \brief Get an instance of the result of tracking. */
      virtual StateT
      getResult () const = 0;

    private:
      /** \brief Abstract tracking method. */
      virtual void
      computeTracking () = 0;

    public:
      PCL_MAKE_ALIGNED_OPERATOR_NEW
    };
  }
}

#include <pcl/tracking/impl/tracker.hpp>
