/******************************************************************************
 * Author:   Laurent Kneip                                                    *
 * Contact:  kneip.laurent@gmail.com                                          *
 * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
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 *   specific prior written permission.                                       *
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/**
 * \file CentralAbsoluteAdapter.hpp
 * \brief Adapter-class for passing bearing-vector-to-point correspondences to
 *        the central absolute-pose algorithms. It maps opengv types
 *        back to opengv types.
 */

#ifndef OPENGV_ABSOLUTE_POSE_CENTRALABSOLUTEADAPTER_HPP_
#define OPENGV_ABSOLUTE_POSE_CENTRALABSOLUTEADAPTER_HPP_

#include <stdlib.h>
#include <vector>
#include <opengv/types.hpp>
#include <opengv/absolute_pose/AbsoluteAdapterBase.hpp>

/**
 * \brief The namespace of this library.
 */
namespace opengv
{
/**
 * \brief The namespace for the absolute pose methods.
 */
namespace absolute_pose
{

/**
 * Check the documentation of the parent-class to understand the meaning of
 * an AbsoluteAdapter. This child-class is for the central case and holds data
 * in form of references to opengv-types.
 */
class CentralAbsoluteAdapter : public AbsoluteAdapterBase
{
protected:
  using AbsoluteAdapterBase::_t;
  using AbsoluteAdapterBase::_R;

public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  /**
   * \brief Constructor. See protected class-members to understand parameters
   */
  CentralAbsoluteAdapter(
      const bearingVectors_t & bearingVectors,
      const points_t & points );
  /**
   * \brief Constructor. See protected class-members to understand parameters
   */
  CentralAbsoluteAdapter(
      const bearingVectors_t & bearingVectors,
      const points_t & points,
      const rotation_t & R );
  /**
   * \brief Constructor. See protected class-members to understand parameters
   */
  CentralAbsoluteAdapter(
      const bearingVectors_t & bearingVectors,
      const points_t & points,
      const translation_t & t,
      const rotation_t & R );
  /**
   * Destructor
   */
  virtual ~CentralAbsoluteAdapter();

  //Access of correspondences
  
  /** See parent-class */
  virtual opengv::bearingVector_t getBearingVector( size_t index ) const;
  /** See parent-class */
  virtual double getWeight( size_t index ) const;
  /** See parent-class. Returns zero for this adapter. */
  virtual opengv::translation_t getCamOffset( size_t index ) const;
  /** See parent-class Returns identity for this adapter. */
  virtual opengv::rotation_t getCamRotation( size_t index ) const;
  /** See parent-class */
  virtual opengv::point_t getPoint( size_t index ) const;
  /** See parent-class */
  virtual size_t getNumberCorrespondences() const;

protected:
  /** Reference to the bearing-vectors expressed in the camera-frame */
  const bearingVectors_t & _bearingVectors;
  /** Reference to the points expressed in the world-frame. */
  const points_t & _points;
};

}
}

#endif /* OPENGV_ABSOLUTE_POSE_CENTRALABSOLUTEADAPTER_HPP_ */
