/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2011, Willow Garage, Inc.
 *  Copyright (c) 2012-, Open Perception, Inc.
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 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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 * $Id$
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 */

#pragma once

#include <pcl/point_cloud.h>

namespace pcl {
namespace registration {
/** \brief @b NullEstimate struct
 * \author Nicola Fioraio
 * \ingroup registration
 */
struct NullEstimate {};

/** \brief @b PoseEstimate struct
 * \author Nicola Fioraio
 * \ingroup registration
 */
template <typename PointT>
struct PoseEstimate {
  Eigen::Matrix4f pose;
  typename pcl::PointCloud<PointT>::ConstPtr cloud;

  PoseEstimate(const Eigen::Matrix4f& p = Eigen::Matrix4f::Identity(),
               const typename pcl::PointCloud<PointT>::ConstPtr& c =
                   typename pcl::PointCloud<PointT>::ConstPtr())
  : pose(p), cloud(c)
  {}
};
} // namespace registration
} // namespace pcl
