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 * $Id: warp_point_rigid.h 5066 2012-03-14 06:42:21Z rusu $
 *
 */

#ifndef PCL_WARP_POINT_RIGID_H_
#define PCL_WARP_POINT_RIGID_H_

#include <Eigen/Core>
#include <Eigen/Geometry>

namespace pcl
{
  template <class PointSourceT, class PointTargetT>
  class WarpPointRigid
  {
  public:

    WarpPointRigid (int nr_dim): nr_dim_ (nr_dim), transform_matrix_ (Eigen::Matrix4f::Zero ())
    {
      transform_matrix_ (3,3) = 1.0;
    };

    virtual ~WarpPointRigid () {};

    virtual void 
    setParam (const Eigen::VectorXf& p) = 0;

    void 
    warpPoint (const PointSourceT& pnt_in, PointSourceT& pnt_out) const
    {
      pnt_out.getVector3fMap () = transform_matrix_.topLeftCorner<3, 3> () * pnt_in.getVector3fMap() + 
        transform_matrix_.block<3,1> (0, 3);
      pnt_out.data [3] = pnt_in.data [3];
    }

    int 
    getDimension () const {return nr_dim_;}

    const Eigen::Matrix4f& 
    getTransform () const { return transform_matrix_; }
    
  public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  protected:
    int nr_dim_;
    Eigen::Matrix4f transform_matrix_;
  };

}

#endif
