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#pragma once

#if defined __GNUC__
#  pragma GCC system_header
#endif

#include <Eigen/Core>
#include <pcl/console/print.h>

/**
  * \file common/geometry.h
  * Defines some geometrical functions and utility functions
  * \ingroup common
  */

/*@{*/
namespace pcl
{
  namespace geometry
  {
    /** @return the euclidean distance between 2 points */
    template <typename PointT> inline float 
    distance (const PointT& p1, const PointT& p2)
    {
      Eigen::Vector3f diff = p1.getVector3fMap () - p2.getVector3fMap ();
      return (diff.norm ());
    }

    /** @return the squared euclidean distance between 2 points */
    template<typename PointT> inline float 
    squaredDistance (const PointT& p1, const PointT& p2)
    {
      Eigen::Vector3f diff = p1.getVector3fMap () - p2.getVector3fMap ();
      return (diff.squaredNorm ());
    }

    /** @return the point projection on a plane defined by its origin and normal vector 
      * \param[in] point Point to be projected
      * \param[in] plane_origin The plane origin
      * \param[in] plane_normal The plane normal 
      * \param[out] projected The returned projected point
      */
    template<typename PointT, typename NormalT> inline void 
    project (const PointT& point, const PointT &plane_origin, 
             const NormalT& plane_normal, PointT& projected)
    {
      Eigen::Vector3f po = point - plane_origin;
      const Eigen::Vector3f normal = plane_normal.getVector3fMapConst ();
      float lambda = normal.dot(po);
      projected.getVector3fMap () = point.getVector3fMapConst () - (lambda * normal);
    }

    /** @return the point projection on a plane defined by its origin and normal vector 
      * \param[in] point Point to be projected
      * \param[in] plane_origin The plane origin
      * \param[in] plane_normal The plane normal 
      * \param[out] projected The returned projected point
      */
    inline void 
    project (const Eigen::Vector3f& point, const Eigen::Vector3f &plane_origin, 
             const Eigen::Vector3f& plane_normal, Eigen::Vector3f& projected)
    {
      Eigen::Vector3f po = point - plane_origin;
      float lambda = plane_normal.dot(po);
      projected = point - (lambda * plane_normal);
    }


    /** \brief Given a plane defined by plane_origin and plane_normal, find the unit vector pointing from plane_origin to the projection of point on the plane.
      * 
      * \param[in] point Point projected on the plane
      * \param[in] plane_origin The plane origin
      * \param[in] plane_normal The plane normal 
      * \return unit vector pointing from plane_origin to the projection of point on the plane.
      * \ingroup geometry
      */
    inline Eigen::Vector3f
    projectedAsUnitVector (Eigen::Vector3f const &point,
                           Eigen::Vector3f const &plane_origin,
                           Eigen::Vector3f const &plane_normal)
    {
      Eigen::Vector3f projection;
      project (point, plane_origin, plane_normal, projection);
      Eigen::Vector3f projected_as_unit_vector = projection - plane_origin;
      projected_as_unit_vector.normalize ();
      return projected_as_unit_vector;
    }


    /** \brief Define a random unit vector orthogonal to axis.
      * 
      * \param[in] axis Axis
      * \return random unit vector orthogonal to axis
      * \ingroup geometry
      */
    inline Eigen::Vector3f
    randomOrthogonalAxis (Eigen::Vector3f const &axis)
    {
      Eigen::Vector3f rand_ortho_axis;
      rand_ortho_axis.setRandom();
      if (std::abs (axis.z ()) > 1E-8f)
      {
        rand_ortho_axis.z () = -(axis.x () * rand_ortho_axis.x () + axis.y () * rand_ortho_axis.y ()) / axis.z ();
      }
      else if (std::abs (axis.y ()) > 1E-8f)
      {
        rand_ortho_axis.y () = -(axis.x () * rand_ortho_axis.x () + axis.z () * rand_ortho_axis.z ()) / axis.y ();
      }
      else if (std::abs (axis.x ()) > 1E-8f)
      {
        rand_ortho_axis.x () = -(axis.y () * rand_ortho_axis.y () + axis.z () * rand_ortho_axis.z ()) / axis.x ();
      }
      else
      {
        PCL_WARN ("[pcl::randomOrthogonalAxis] provided axis has norm < 1E-8f\n");
      }

      rand_ortho_axis.normalize ();
      return rand_ortho_axis;
    }


  }
}