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 * $Id: warp_point_rigid_6d.h 2617 2011-09-30 21:37:23Z rusu $
 *
 */


#ifndef PCL_WARP_POINT_RIGID_6D_H_
#define PCL_WARP_POINT_RIGID_6D_H_

#include "pcl/registration/warp_point_rigid.h"

namespace pcl
{

  template <class PointSourceT, class PointTargetT>
  class WarpPointRigid6D : public WarpPointRigid<PointSourceT, PointTargetT>
  {
  public:
    WarpPointRigid6D ()
      : WarpPointRigid<PointSourceT, PointTargetT> (6) {}

    virtual void setParam (const Eigen::VectorXf& p)
    {
      assert(p.rows () == this->getDimension ());
      Eigen::Matrix4f& trans = this->transform_matrix_;      

      trans = Eigen::Matrix4f::Zero ();
      trans (3,3) = 1;

      // Copy the rotation and translation components
      trans.block <4, 1> (0, 3) = Eigen::Vector4f(p[0], p[1], p[2], 0);

      // Compute w from the unit quaternion
      Eigen::Quaternionf q (0, p[3], p[4], p[5]);
      q.w () = sqrt (1 - q.dot (q));
      trans.topLeftCorner<3, 3> () = q.toRotationMatrix();
    }
  };
}

#endif

