/*
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 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2012-, Open Perception, Inc.
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 *     disclaimer in the documentation and/or other materials provided
 *     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.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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 * $Id: point_types.hpp 6415 2012-07-16 20:11:47Z rusu $
 *
 */

#ifndef PCL_COMMON_POINT_TESTS_H_
#define PCL_COMMON_POINT_TESTS_H_

#ifdef _MSC_VER
#include <Eigen/src/StlSupport/details.h>
#endif

namespace pcl
{
  /** Tests if the 3D components of a point are all finite
    * param[in] pt point to be tested
    */
  template <typename PointT> inline bool
  isFinite (const PointT &pt)
  {
    return (pcl_isfinite (pt.x) && pcl_isfinite (pt.y) && pcl_isfinite (pt.z));
  }

#ifdef _MSC_VER
  template <typename PointT> inline bool
  isFinite (const Eigen::internal::workaround_msvc_stl_support<PointT> &pt)
  {
    return isFinite<PointT> (static_cast<const PointT&> (pt));
  }
#endif

  template<> inline bool isFinite<pcl::RGB> (const pcl::RGB&) { return (true); }
  template<> inline bool isFinite<pcl::Label> (const pcl::Label&) { return (true); }
  template<> inline bool isFinite<pcl::Axis> (const pcl::Axis&) { return (true); }
  template<> inline bool isFinite<pcl::MomentInvariants> (const pcl::MomentInvariants&) { return (true); }
  template<> inline bool isFinite<pcl::PrincipalRadiiRSD> (const pcl::PrincipalRadiiRSD&) { return (true); }
  template<> inline bool isFinite<pcl::Boundary> (const pcl::Boundary&) { return (true); }
  template<> inline bool isFinite<pcl::PrincipalCurvatures> (const pcl::PrincipalCurvatures&) { return (true); }
  template<> inline bool isFinite<pcl::SHOT352> (const pcl::SHOT352&) { return (true); }
  template<> inline bool isFinite<pcl::SHOT1344> (const pcl::SHOT1344&) { return (true); }
  template<> inline bool isFinite<pcl::ReferenceFrame> (const pcl::ReferenceFrame&) { return (true); }
  template<> inline bool isFinite<pcl::ShapeContext1980> (const pcl::ShapeContext1980&) { return (true); }
  template<> inline bool isFinite<pcl::PFHSignature125> (const pcl::PFHSignature125&) { return (true); }
  template<> inline bool isFinite<pcl::PFHRGBSignature250> (const pcl::PFHRGBSignature250&) { return (true); }
  template<> inline bool isFinite<pcl::PPFSignature> (const pcl::PPFSignature&) { return (true); }
  template<> inline bool isFinite<pcl::PPFRGBSignature> (const pcl::PPFRGBSignature&) { return (true); }
  template<> inline bool isFinite<pcl::NormalBasedSignature12> (const pcl::NormalBasedSignature12&) { return (true); }
  template<> inline bool isFinite<pcl::FPFHSignature33> (const pcl::FPFHSignature33&) { return (true); }
  template<> inline bool isFinite<pcl::VFHSignature308> (const pcl::VFHSignature308&) { return (true); }
  template<> inline bool isFinite<pcl::ESFSignature640> (const pcl::ESFSignature640&) { return (true); }
  template<> inline bool isFinite<pcl::IntensityGradient> (const pcl::IntensityGradient&) { return (true); }

  // specification for pcl::PointXY
  template <> inline bool
  isFinite<pcl::PointXY> (const pcl::PointXY &p)
  {
    return (pcl_isfinite (p.x) && pcl_isfinite (p.y));
  }

  // specification for pcl::BorderDescription
  template <> inline bool
  isFinite<pcl::BorderDescription> (const pcl::BorderDescription &p)
  {
    return (pcl_isfinite (p.x) && pcl_isfinite (p.y));
  }

  // specification for pcl::Normal
  template <> inline bool
  isFinite<pcl::Normal> (const pcl::Normal &n)
  {
    return (pcl_isfinite (n.normal_x) && pcl_isfinite (n.normal_y) && pcl_isfinite (n.normal_z));
  }
}

#endif    // PCL_COMMON_POINT_TESTS_H_

