/*
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 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2009-2012, Willow Garage, Inc.
 *  Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho,
 *                      Johns Hopkins University
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 *     with the distribution.
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 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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 * $Id: polynomial.h 5531 2012-04-08 09:14:33Z aichim $
 *
 */

#ifndef PCL_POISSON_POLYNOMIAL_H_
#define PCL_POISSON_POLYNOMIAL_H_

#include <vector>

namespace pcl {
  namespace poisson {

    template<int Degree>
    class Polynomial{
    public:
      double coefficients[Degree+1];

      Polynomial(void);
      template<int Degree2>
      Polynomial(const Polynomial<Degree2>& P);
      double operator() (const double& t) const;
      double integral (const double& tMin,const double& tMax) const;

      int operator == (const Polynomial& p) const;
      int operator != (const Polynomial& p) const;
      int isZero(void) const;
      void setZero(void);

      template<int Degree2>
      Polynomial& operator  = (const Polynomial<Degree2> &p);
      Polynomial& operator += (const Polynomial& p);
      Polynomial& operator -= (const Polynomial& p);
      Polynomial  operator -  (void) const;
      Polynomial  operator +  (const Polynomial& p) const;
      Polynomial  operator -  (const Polynomial& p) const;
      template<int Degree2>
      Polynomial<Degree+Degree2>  operator *  (const Polynomial<Degree2>& p) const;

      Polynomial& operator += (const double& s);
      Polynomial& operator -= (const double& s);
      Polynomial& operator *= (const double& s);
      Polynomial& operator /= (const double& s);
      Polynomial  operator +  (const double& s) const;
      Polynomial  operator -  (const double& s) const;
      Polynomial  operator *  (const double& s) const;
      Polynomial  operator /  (const double& s) const;

      Polynomial scale (const double& s) const;
      Polynomial shift (const double& t) const;

      Polynomial<Degree-1> derivative (void) const;
      Polynomial<Degree+1> integral (void) const;

      void printnl (void) const;

      Polynomial& addScaled (const Polynomial& p, const double& scale);

      static void Negate (const Polynomial& in, Polynomial& out);
      static void Subtract (const Polynomial& p1, const Polynomial& p2, Polynomial& q);
      static void Scale (const Polynomial& p, const double& w, Polynomial& q);
      static void AddScaled (const Polynomial& p1, const double& w1, const Polynomial& p2, const double& w2, Polynomial& q);
      static void AddScaled (const Polynomial& p1, const Polynomial& p2, const double& w2, Polynomial& q);
      static void AddScaled (const Polynomial& p1, const double& w1, const Polynomial& p2, Polynomial& q);

      void getSolutions (const double& c, std::vector<double>& roots, const double& EPS) const;
    };


  }
}


#include <pcl/surface/impl/poisson/polynomial.hpp>
#endif /* PCL_POISSON_POLYNOMIAL_H_ */
