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#pragma once

#include <pcl/point_cloud.h>
#include <pcl/PointIndices.h>
#include <pcl/correspondence.h>

namespace pcl
{
  /** \brief Iterator class for point clouds with or without given indices
    * \author Suat Gedikli
    */
  template <typename PointT>
  class CloudIterator
  {
    public:
      CloudIterator (PointCloud<PointT>& cloud);

      CloudIterator (PointCloud<PointT>& cloud, const Indices& indices);

      CloudIterator (PointCloud<PointT>& cloud, const PointIndices& indices);

      CloudIterator (PointCloud<PointT>& cloud, const Correspondences& corrs, bool source);

      ~CloudIterator ();

      void operator ++ ();

      void operator ++ (int);

      PointT& operator* () const;

      PointT* operator-> () const;

      unsigned getCurrentPointIndex () const;

      unsigned getCurrentIndex () const;

      /** \brief Size of the range the iterator is going through. Depending on how the CloudIterator was constructed this is the size of the cloud or indices/correspondences. */
      std::size_t size () const;

      void reset ();

      bool isValid () const;

      operator bool () const
      {
        return isValid ();
      }
    private:

      class Iterator
      {
        public:
          virtual ~Iterator ()  = default;

          virtual void operator ++ () = 0;

          virtual void operator ++ (int) = 0;

          virtual PointT& operator* () const = 0;

          virtual PointT* operator-> () const = 0;

          virtual unsigned getCurrentPointIndex () const = 0;

          virtual unsigned getCurrentIndex () const = 0;

          /** \brief Size of the range the iterator is going through. Depending on how the CloudIterator was constructed this is the size of the cloud or indices/correspondences. */
          virtual std::size_t size () const = 0;

          virtual void reset () = 0;

          virtual bool isValid () const = 0;
      };
      Iterator* iterator_;
  };

  /** \brief Iterator class for point clouds with or without given indices
    * \author Suat Gedikli
    */
  template <typename PointT>
  class ConstCloudIterator
  {
    public:
      ConstCloudIterator (const PointCloud<PointT>& cloud);

      ConstCloudIterator (const PointCloud<PointT>& cloud, const Indices& indices);

      ConstCloudIterator (const PointCloud<PointT>& cloud, const PointIndices& indices);

      ConstCloudIterator (const PointCloud<PointT>& cloud, const Correspondences& corrs, bool source);

      ~ConstCloudIterator ();

      void operator ++ ();

      void operator ++ (int);

      const PointT& operator* () const;

      const PointT* operator-> () const;

      unsigned getCurrentPointIndex () const;

      unsigned getCurrentIndex () const;

      /** \brief Size of the range the iterator is going through. Depending on how the ConstCloudIterator was constructed this is the size of the cloud or indices/correspondences. */
      std::size_t size () const;

      void reset ();

      bool isValid () const;

      operator bool () const
      {
        return isValid ();
      }
    private:

      class Iterator
      {
        public:
          virtual ~Iterator ()  = default;

          virtual void operator ++ () = 0;

          virtual void operator ++ (int) = 0;

          virtual const PointT& operator* () const = 0;

          virtual const PointT* operator-> () const = 0;

          virtual unsigned getCurrentPointIndex () const = 0;

          virtual unsigned getCurrentIndex () const = 0;

          /** \brief Size of the range the iterator is going through. Depending on how the ConstCloudIterator was constructed this is the size of the cloud or indices/correspondences. */
          virtual std::size_t size () const = 0;

          virtual void reset () = 0;

          virtual bool isValid () const = 0;
      };

      class DefaultConstIterator;
      class ConstIteratorIdx;
      Iterator* iterator_;
  };

} // namespace pcl

#include <pcl/impl/cloud_iterator.hpp>
