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 *  Point Cloud Library (PCL) - www.pointclouds.org
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 * $Id: planar_polygon.h 4696 2012-02-23 06:12:55Z rusu $
 *
 */

#pragma once

#include <pcl/ModelCoefficients.h>
#include <pcl/memory.h>
#include <pcl/pcl_macros.h>
#include <pcl/point_cloud.h>

namespace pcl {
/** \brief PlanarPolygon represents a planar (2D) polygon, potentially in a 3D space.
 * \author Alex Trevor
 */
template <typename PointT>
class PlanarPolygon {
public:
  using Ptr = shared_ptr<PlanarPolygon<PointT>>;
  using ConstPtr = shared_ptr<const PlanarPolygon<PointT>>;

  /** \brief Empty constructor for PlanarPolygon */
  PlanarPolygon() : contour_() {}

  /** \brief Constructor for PlanarPolygon
   * \param[in] contour a vector of points bounding the polygon
   * \param[in] coefficients a vector of the plane's coefficients (a,b,c,d)
   */
  PlanarPolygon(typename pcl::PointCloud<PointT>::VectorType& contour,
                Eigen::Vector4f& coefficients)
  : contour_(contour), coefficients_(coefficients)
  {}

  /** \brief Destructor. */
  virtual ~PlanarPolygon() {}

  /** \brief Set the internal contour
   * \param[in] contour the new planar polygonal contour
   */
  void
  setContour(const pcl::PointCloud<PointT>& contour)
  {
    contour_ = contour.points;
  }

  /** \brief Getter for the contour / boundary */
  typename pcl::PointCloud<PointT>::VectorType&
  getContour()
  {
    return (contour_);
  }

  /** \brief Getter for the contour / boundary */
  const typename pcl::PointCloud<PointT>::VectorType&
  getContour() const
  {
    return (contour_);
  }

  /** \brief Setr the internal coefficients
   * \param[in] coefficients the new coefficients to be set
   */
  void
  setCoefficients(const Eigen::Vector4f& coefficients)
  {
    coefficients_ = coefficients;
  }

  /** \brief Set the internal coefficients
   * \param[in] coefficients the new coefficients to be set
   */
  void
  setCoefficients(const pcl::ModelCoefficients& coefficients)
  {
    for (int i = 0; i < 4; i++)
      coefficients_[i] = coefficients.values.at(i);
  }

  /** \brief Getter for the coefficients */
  Eigen::Vector4f&
  getCoefficients()
  {
    return (coefficients_);
  }

  /** \brief Getter for the coefficients */
  const Eigen::Vector4f&
  getCoefficients() const
  {
    return (coefficients_);
  }

protected:
  /** \brief A list of points on the boundary/contour of the planar region. */
  typename pcl::PointCloud<PointT>::VectorType contour_;

  /** \brief A list of model coefficients (a,b,c,d). */
  Eigen::Vector4f coefficients_;

public:
  PCL_MAKE_ALIGNED_OPERATOR_NEW
};
} // namespace pcl
