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 * $Id$
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#pragma once

#include <pcl/octree/octree_pointcloud.h>

namespace pcl {
namespace octree {

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/** \brief @b Octree pointcloud occupancy class
 * \tparam PointT type of point used in pointcloud
 * This pointcloud octree class generate an octrees from a point cloud (zero-copy). No
 * information is stored at the lead nodes. It can be used of occupancy checks.
 * \note The octree pointcloud is initialized with its voxel resolution. Its bounding
 * box is automatically adjusted or can be predefined.
 * \ingroup octree
 * \author Julius Kammerl (julius@kammerl.de)
 */
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT,
          typename LeafContainerT = OctreeContainerEmpty,
          typename BranchContainerT = OctreeContainerEmpty>
class OctreePointCloudOccupancy
: public OctreePointCloud<PointT,
                          LeafContainerT,
                          BranchContainerT,
                          OctreeBase<LeafContainerT, BranchContainerT>>

{

public:
  // public typedefs for single/double buffering
  using SingleBuffer =
      OctreePointCloudOccupancy<PointT, LeafContainerT, BranchContainerT>;
  using DoubleBuffer =
      OctreePointCloudOccupancy<PointT, LeafContainerT, BranchContainerT>;

  // public point cloud typedefs
  using PointCloud =
      typename OctreePointCloud<PointT, LeafContainerT, BranchContainerT>::PointCloud;
  using PointCloudPtr = typename OctreePointCloud<PointT,
                                                  LeafContainerT,
                                                  BranchContainerT>::PointCloudPtr;
  using PointCloudConstPtr =
      typename OctreePointCloud<PointT, LeafContainerT, BranchContainerT>::
          PointCloudConstPtr;

  /** \brief Constructor.
   *  \param resolution_arg:  octree resolution at lowest octree level
   * */
  OctreePointCloudOccupancy(const double resolution_arg)
  : OctreePointCloud<PointT,
                     LeafContainerT,
                     BranchContainerT,
                     OctreeBase<LeafContainerT, BranchContainerT>>(resolution_arg)
  {}

  /** \brief Empty class constructor. */

  ~OctreePointCloudOccupancy() override = default;

  /** \brief Set occupied voxel at point.
   *  \param point_arg:  input point
   * */
  void
  setOccupiedVoxelAtPoint(const PointT& point_arg)
  {
    OctreeKey key;

    // make sure bounding box is big enough
    this->adoptBoundingBoxToPoint(point_arg);

    // generate key
    this->genOctreeKeyforPoint(point_arg, key);

    // add point to octree at key
    this->createLeaf(key);
  }

  /** \brief Set occupied voxels at all points from point cloud.
   *  \param cloud_arg:  input point cloud
   * */
  void
  setOccupiedVoxelsAtPointsFromCloud(PointCloudPtr cloud_arg)
  {
    for (const auto& point : *cloud_arg) {
      // check for NaNs
      if (isFinite(point)) {
        // set voxel at point
        this->setOccupiedVoxelAtPoint(point);
      }
    }
  }
};
} // namespace octree

} // namespace pcl

#define PCL_INSTANTIATE_OctreePointCloudOccupancy(T)                                   \
  template class PCL_EXPORTS pcl::octree::OctreePointCloudOccupancy<T>;
