/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010, Willow Garage, Inc.
 *  Copyright (c) 2012-, Open Perception, Inc.
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 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
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 * $Id$
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 */

#pragma once

#if defined __GNUC__
#pragma GCC system_header
#endif

#include <pcl/registration/correspondence_types.h>

namespace pcl {
namespace registration {
/** @b sortCorrespondencesByQueryIndex : a functor for sorting correspondences by query
 * index \author Dirk Holz \ingroup registration
 */
struct sortCorrespondencesByQueryIndex {
  using first_argument_type = pcl::Correspondence;
  using second_argument_type = pcl::Correspondence;
  using result_type = bool;
  bool
  operator()(pcl::Correspondence a, pcl::Correspondence b)
  {
    return (a.index_query < b.index_query);
  }
};

/** @b sortCorrespondencesByMatchIndex : a functor for sorting correspondences by match
 * index \author Dirk Holz \ingroup registration
 */
struct sortCorrespondencesByMatchIndex {
  using first_argument_type = pcl::Correspondence;
  using second_argument_type = pcl::Correspondence;
  using result_type = bool;
  bool
  operator()(pcl::Correspondence a, pcl::Correspondence b)
  {
    return (a.index_match < b.index_match);
  }
};

/** @b sortCorrespondencesByDistance : a functor for sorting correspondences by distance
 * \author Dirk Holz
 * \ingroup registration
 */
struct sortCorrespondencesByDistance {
  using first_argument_type = pcl::Correspondence;
  using second_argument_type = pcl::Correspondence;
  using result_type = bool;
  bool
  operator()(pcl::Correspondence a, pcl::Correspondence b)
  {
    return (a.distance < b.distance);
  }
};

/** @b sortCorrespondencesByQueryIndexAndDistance : a functor for sorting
 * correspondences by query index _and_ distance \author Dirk Holz \ingroup registration
 */
struct sortCorrespondencesByQueryIndexAndDistance {
  using first_argument_type = pcl::Correspondence;
  using second_argument_type = pcl::Correspondence;
  using result_type = bool;
  inline bool
  operator()(pcl::Correspondence a, pcl::Correspondence b)
  {
    if (a.index_query < b.index_query)
      return (true);
    else if ((a.index_query == b.index_query) && (a.distance < b.distance))
      return (true);
    return (false);
  }
};

/** @b sortCorrespondencesByMatchIndexAndDistance : a functor for sorting
 * correspondences by match index _and_ distance \author Dirk Holz \ingroup registration
 */
struct sortCorrespondencesByMatchIndexAndDistance {
  using first_argument_type = pcl::Correspondence;
  using second_argument_type = pcl::Correspondence;
  using result_type = bool;
  inline bool
  operator()(pcl::Correspondence a, pcl::Correspondence b)
  {
    if (a.index_match < b.index_match)
      return (true);
    else if ((a.index_match == b.index_match) && (a.distance < b.distance))
      return (true);
    return (false);
  }
};

} // namespace registration
} // namespace pcl
