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#ifndef NURBS_FITTING_CURVE_PDM_H
#define NURBS_FITTING_CURVE_PDM_H

#include <pcl/pcl_exports.h>
#include <pcl/surface/on_nurbs/nurbs_tools.h>
#include <pcl/surface/on_nurbs/nurbs_data.h>
#include <pcl/surface/on_nurbs/nurbs_solve.h>

namespace pcl
{
  namespace on_nurbs
  {

    /** \brief Fitting a 3D B-Spline curve to point-clouds using point-distance-minimization
      * and optionally asymmetric-distance-minimization
      * Based on paper: TODO
      * \author Thomas Mörwald
      * \ingroup surface
      */
    class PCL_EXPORTS FittingCurve
    {
      public:
        struct Parameter
        {
          double smoothness;
          Parameter (double smoothness = 0.000001) :
            smoothness (smoothness)
          {
          }
        };

        ON_TextLog m_out;
        ON_NurbsCurve m_nurbs;
        NurbsDataCurve *m_data;

        /** \brief Constructor initializing B-Spline curve using initNurbsCurve2D(...).
          * \param[in] order the polynomial order of the B-Spline curve.
          * \param[in] data pointer to the 3D point-cloud data to be fit
          */
        FittingCurve (int order, NurbsDataCurve *data);

        /** \brief Constructor initializing with the B-Spline curve given in argument 2.
          * \param[in] data pointer to the 3D point-cloud data to be fit.
          * \param[in] nc B-Spline curve used for fitting.
          */
        FittingCurve (NurbsDataCurve *data, const ON_NurbsCurve &ns);

        /** \brief Find the element in which the parameter xi lies.
          * \param[in] xi value in parameter domain of the B-Spline curve.
          * \param[in] elements the vector of elements of the curve.
          * \return index of the element with respect to elements. 
          */
        static int
        findElement (double xi, const std::vector<double> &elements);

        /** \brief Refines curve by inserting a knot in the middle of each element. */
        void
        refine ();

        /** \brief Assemble the system of equations for fitting
          * - for large point-clouds this is time consuming.
          * - should be done once before refinement to initialize the starting points for point inversion. 
          */
        void
        assemble (const Parameter &parameter);

        /** \brief Solve system of equations using Eigen or UmfPack (can be defined in on_nurbs.cmake),
          * and updates B-Spline curve if a solution can be obtained. 
          */
        void
        solve (double damp = 1.0);

        /** \brief Update curve according to the current system of equations.
          * \param[in] damp damping factor from one iteration to the other. 
          */
        void
        updateCurve (double damp);

        /** \brief Initialize a closed B-Spline curve using the bounding circle of the point-cloud.
          * \param[in] order polynomial order of the curve.
          * \param[in] data 3D point-cloud
          * \return B-Spline curve. 
          */
        static ON_NurbsCurve
        initNurbsCurve2D (int order, const vector_vec2d &data);

        /** \brief Initialize a closed B-Spline curve using the eigenvalues as elliptic parameters (z=0).
          * \param[in] order polynomial order of the curve.
          * \param[in] data 3D point-cloud
          * \return B-Spline curve. 
          */
        static ON_NurbsCurve
        initNurbsCurvePCA (int order, const vector_vec3d &data, int ncps = 0, double rf = 1.0);

        /** \brief Inverse mapping / point inversion: Given a point pt, this function finds the closest
          * point on the B-Spline curve using Newtons method and point-distance (L2-, Euclidean norm).
          * \param[in] nurbs the B-Spline curve.
          * \param[in] pt the point to which the closest point on the curve will be computed.
          * \param[in] hint the starting point in parametric domain (warning: may lead to convergence at local minima).
          * \param[in] error the distance between the point pt and p after convergence.
          * \param[in] p closest point on curve.
          * \param[in] t the tangent vector at point p.
          * \param[in] maxSteps maximum number of iterations.
          * \param[in] accuracy convergence criteria: if error is lower than accuracy the function returns
          * \return closest point on curve in parametric domain.
          */
        static double
        inverseMapping (const ON_NurbsCurve &nurbs, const Eigen::Vector3d &pt, const double &hint, double &error,
                        Eigen::Vector3d &p, Eigen::Vector3d &t, int maxSteps = 100, double accuracy = 1e-6,
                        bool quiet = true);

        /** \brief Given a point pt, the function finds the closest midpoint of the elements of the curve.
          * \param[in] nurbs the B-Spline curve.
          * \param[in] pt the point to which the closest midpoint of the elements will be computed.
          * return closest midpoint in parametric domain. 
          */
        static double
        findClosestElementMidPoint (const ON_NurbsCurve &nurbs, const Eigen::Vector3d &pt);

        /** \brief Enable/Disable debug outputs in console. */
        inline void
        setQuiet (bool val)
        {
          m_quiet = val;
          m_solver.setQuiet (val);
        }

      private:

        /** \brief Get the elements of a B-Spline curve.*/
        static std::vector<double>
        getElementVector (const ON_NurbsCurve &nurbs);

        /** \brief Add minimization constraint: point-to-surface distance (point-distance-minimization). */
        void
        addPointConstraint (const double &param, const Eigen::Vector3d &point, double weight, unsigned &row);

        /** \brief Add minimization constraint: smoothness by control point regularisation. */
        void
        addCageRegularisation (double weight, unsigned &row);

        /** \brief Assemble point-to-surface constraints. */
        void
        assembleInterior (double wInt, unsigned &row);

        NurbsSolve m_solver;
        bool m_quiet;

        int in_max_steps;
        double in_accuracy;

    };
  }
}

#endif
