/*
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 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, Willow Garage, Inc.
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#pragma once

#include <pcl/common/common.h>

#include <ostream>
#include <vector>

namespace pcl {

/** Class interface for gathering statistics for decision tree learning. */
template <class LabelDataType, class NodeType, class DataSet, class ExampleIndex>
class PCL_EXPORTS StatsEstimator {

public:
  /** Destructor. */
  virtual ~StatsEstimator(){};

  /** Returns the number of brances a node can have (e.g. a binary tree has 2). */
  virtual std::size_t
  getNumOfBranches() const = 0;

  /** Computes and sets the statistics for a node.
   *
   * \param[in] data_set the data set used for training
   * \param[in] examples the examples used for computing the statistics for the
   *            specified node
   * \param[in] label_data the labels corresponding to the examples
   * \param[out] node The destination node for the statistics
   */
  virtual void
  computeAndSetNodeStats(DataSet& data_set,
                         std::vector<ExampleIndex>& examples,
                         std::vector<LabelDataType>& label_data,
                         NodeType& node) const = 0;

  /** Returns the label of the specified node.
   *
   * \param[in] node The node from which the label is extracted
   */
  virtual LabelDataType
  getLabelOfNode(NodeType& node) const = 0;

  /** Computes the information gain obtained by the specified threshold on the supplied
   *  feature evaluation results.
   *
   * \param[in] data_set the data set used for extracting the supplied result values.
   * \param[in] examples the examples used to extract the supplied result values
   * \param[in] label_data the labels corresponding to the examples
   * \param[in] results the results obtained from the feature evaluation
   * \param[in] flags the flags obtained together with the results
   * \param[in] threshold the threshold which is used to compute the information gain
   */
  virtual float
  computeInformationGain(DataSet& data_set,
                         std::vector<ExampleIndex>& examples,
                         std::vector<LabelDataType>& label_data,
                         std::vector<float>& results,
                         std::vector<unsigned char>& flags,
                         const float threshold) const = 0;

  /** Computes the branch indices obtained by the specified threshold on the supplied
   *  feature evaluation results.
   *
   * \param[in] results the results obtained from the feature evaluation
   * \param[in] flags the flags obtained together with the results.
   * \param[in] threshold the threshold which is used to compute the branch indices
   * \param[out] branch_indices the destination for the computed branch indices.
   */
  virtual void
  computeBranchIndices(std::vector<float>& results,
                       std::vector<unsigned char>& flags,
                       const float threshold,
                       std::vector<unsigned char>& branch_indices) const = 0;

  /** Computes the branch indices obtained by the specified threshold on the supplied
   *  feature evaluation results.
   *
   * \param[in] result the result obtained from the feature evaluation
   * \param[in] flag the flag obtained together with the result
   * \param[in] threshold the threshold which is used to compute the branch index
   * \param[out] branch_index the destination for the computed branch index
   */
  virtual void
  computeBranchIndex(const float result,
                     const unsigned char flag,
                     const float threshold,
                     unsigned char& branch_index) const = 0;

  /** Generates code for computing the branch indices for the specified node and writes
   *  it to the specified stream.
   *
   * \param[in] node the node for which the branch index estimation code is generated
   * \param[out] stream the destination for the code
   */
  virtual void
  generateCodeForBranchIndexComputation(NodeType& node, std::ostream& stream) const = 0;

  /** Generates code for computing the output for the specified node and writes it to
   *  the specified stream.
   *
   * \param[in] node the node for which the output estimation code is generated
   * \param[out] stream the destination for the code
   */
  virtual void
  generateCodeForOutput(NodeType& node, std::ostream& stream) const = 0;
};

} // namespace pcl