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#pragma once

#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>
#include <pcl/surface/on_nurbs/fitting_curve_2d_apdm.h>

namespace pcl
{
  namespace on_nurbs
  {

    /** \brief Fitting a 2D B-Spline curve to 2D point-clouds using asymmetric squared-distance-minimization
      *  Based on paper: TODO
      * \author Thomas Mörwald
      * \ingroup surface
      */
    class PCL_EXPORTS FittingCurve2dASDM : public FittingCurve2dAPDM
    {
      public:
        /** \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 2D point-cloud data to be fit.
          */
        FittingCurve2dASDM (int order, NurbsDataCurve2d *data);

        /** \brief Constructor initializing with the B-Spline curve given in argument 2.
          * \param[in] data pointer to the 2D point-cloud data to be fit.
          * \param[in] nc B-Spline curve used for fitting.
          */
        FittingCurve2dASDM (NurbsDataCurve2d *data, const ON_NurbsCurve &nc);

        /** \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) override;

        /** \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.
          */
        double
        solve (double damp = 1.0) override;

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

      protected:

        /** \brief Add minimization constraint: point-to-surface distance (squared-distance-minimization). */
        virtual void
        addPointConstraint (const double &param, const Eigen::Vector2d &point, const Eigen::Vector2d &normal,
                            const Eigen::Vector2d &tangent, double rho, double d, double weight, unsigned &row);

        /** \brief Add minimization constraint: smoothness by control point regularisation. */
        void
        addCageRegularisation (double weight, unsigned &row, const std::vector<double> &elements, double wConcav = 0.0) override;

        /** \brief Assemble point-to-surface constraints. */
        void
        assembleInterior (double wInt, double sigma2, double rScale, unsigned &row) override;

        /** \brief Assemble closest points constraints. At each midpoint of the curve elements the closest data points
          * are computed and point-to-surface constraints are added. 
          */
        virtual void
        assembleClosestPoints (const std::vector<double> &elements, double weight, double sigma2, unsigned &row);

    };
  }
}
