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#ifndef PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PERPENDICULAR_PLANE_H_
#define PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PERPENDICULAR_PLANE_H_

#include <pcl/sample_consensus/sac_model_perpendicular_plane.h>
#include <pcl/common/common.h> // for getAngle3D

//////////////////////////////////////////////////////////////////////////
template <typename PointT> void
pcl::SampleConsensusModelPerpendicularPlane<PointT>::selectWithinDistance (
      const Eigen::VectorXf &model_coefficients, const double threshold, Indices &inliers)
{
  // Check if the model is valid given the user constraints
  if (!isModelValid (model_coefficients))
  {
    inliers.clear ();
    return;
  }

  SampleConsensusModelPlane<PointT>::selectWithinDistance (model_coefficients, threshold, inliers);
}

//////////////////////////////////////////////////////////////////////////
template <typename PointT> std::size_t
pcl::SampleConsensusModelPerpendicularPlane<PointT>::countWithinDistance (
      const Eigen::VectorXf &model_coefficients, const double threshold) const
{
  // Check if the model is valid given the user constraints
  if (!isModelValid (model_coefficients))
  {
    return (0);
  }

  return (SampleConsensusModelPlane<PointT>::countWithinDistance (model_coefficients, threshold));
}

//////////////////////////////////////////////////////////////////////////
template <typename PointT> void
pcl::SampleConsensusModelPerpendicularPlane<PointT>::getDistancesToModel (
      const Eigen::VectorXf &model_coefficients, std::vector<double> &distances) const
{
  // Check if the model is valid given the user constraints
  if (!isModelValid (model_coefficients))
  {
    distances.clear ();
    return;
  }

  SampleConsensusModelPlane<PointT>::getDistancesToModel (model_coefficients, distances);
}

//////////////////////////////////////////////////////////////////////////
template <typename PointT> bool
pcl::SampleConsensusModelPerpendicularPlane<PointT>::isModelValid (const Eigen::VectorXf &model_coefficients) const
{
  if (!SampleConsensusModel<PointT>::isModelValid (model_coefficients))
  {
    return (false);
  }

  // Check against template, if given
  if (eps_angle_ > 0.0)
  {
    // Obtain the plane normal
    Eigen::Vector4f coeff = model_coefficients;
    coeff[3] = 0.0f;

    Eigen::Vector4f axis (axis_[0], axis_[1], axis_[2], 0.0f);
    double angle_diff = std::abs (getAngle3D (axis, coeff));
    angle_diff = (std::min) (angle_diff, M_PI - angle_diff);
    // Check whether the current plane model satisfies our angle threshold criterion with respect to the given axis
    if (angle_diff > eps_angle_)
    {
      PCL_DEBUG ("[pcl::SampleConsensusModelPerpendicularPlane::isModelValid] Angle between plane normal and given axis should be smaller than %g, but is %g.\n",
                 eps_angle_, angle_diff);
      return (false);
    }
  }

  return (true);
}

#define PCL_INSTANTIATE_SampleConsensusModelPerpendicularPlane(T) template class PCL_EXPORTS pcl::SampleConsensusModelPerpendicularPlane<T>;

#endif    // PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PERPENDICULAR_PLANE_H_

