/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2023, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/graphslam/interfaces/CEdgeRegistrationDecider.h>
#include <mrpt/graphslam/misc/CRangeScanOps.h>
#include <mrpt/obs/CObservation2DRangeScan.h>

namespace mrpt::graphslam::deciders
{
/**\brief Edge Registration Decider Interface from which RangeScanner-based
 * ERDs can inherit from.
 *
 * Holds common vars for the underlying classesand provides methods for
 * accessing and modifying them.
 *
 * \note Since the decider inherits from the CRangeScanOps
 * class, it parses the configuration parameters of the latter as well from the
 * "ICP" section. Refer to the CRangeScanOps documentation for
 * its list of configuration parameters
 */
template <class GRAPH_T>
class CRangeScanEdgeRegistrationDecider
	: public virtual CEdgeRegistrationDecider<GRAPH_T>,
	  public CRangeScanOps<GRAPH_T>
{
   public:
	using parent_t =
		mrpt::graphslam::deciders::CEdgeRegistrationDecider<GRAPH_T>;
	/**\brief Typedef for accessing methods of the
	 * RangeScanRegistrationDecider_t parent class.
	 */
	using range_ops_t = mrpt::graphslam::deciders::CRangeScanOps<GRAPH_T>;
	using nodes_to_scans2D_t = std::map<
		mrpt::graphs::TNodeID, mrpt::obs::CObservation2DRangeScan::Ptr>;

	CRangeScanEdgeRegistrationDecider() = default;
	~CRangeScanEdgeRegistrationDecider() override = default;

   protected:
	void loadParams(const std::string& source_fname) override;
	void printParams() const override;
	/**\brief Map for keeping track of the observation recorded at each graph
	 * position
	 */
	nodes_to_scans2D_t m_nodes_to_laser_scans2D;
	/**\brief Keep track of the total number of registered nodes since the last
	 * time class method was called
	 */
	size_t m_last_total_num_nodes = 0;
};
}  // namespace mrpt::graphslam::deciders
#include "CRangeScanEdgeRegistrationDecider_impl.h"
