/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2011, Willow Garage, Inc.
 *  Copyright (c) 2012-, Open Perception, Inc.
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 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 * $Id$
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#ifndef PCL_VERTEX_ESTIMATES_H_
#define PCL_VERTEX_ESTIMATES_H_

#include <pcl/point_cloud.h>

namespace pcl
{
  namespace registration
  {
    /** \brief @b NullEstimate struct
      * \author Nicola Fioraio
      * \ingroup registration
      */
    struct NullEstimate
    {};

    /** \brief @b PoseEstimate struct
      * \author Nicola Fioraio
      * \ingroup registration
      */
    template <typename PointT>
    struct PoseEstimate
    {
      Eigen::Matrix4f pose;
      typename pcl::PointCloud<PointT>::ConstPtr cloud;

      PoseEstimate (const Eigen::Matrix4f& p = Eigen::Matrix4f::Identity(),
                    const typename pcl::PointCloud<PointT>::ConstPtr& c = typename pcl::PointCloud<PointT>::ConstPtr())
        : pose (p), cloud (c) {}
    };
  }
}

#endif // PCL_VERTEX_ESTIMATES_H_
