/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Pseudo-database used to handle dependencies between moment features.
 */

/*!
 * \file vpFeatureMomentDatabase.h
 * \brief Pseudo-database used to handle dependencies between moment features.
 */

#ifndef _vpFeatureMomentDatabase_h_
#define _vpFeatureMomentDatabase_h_

#include <cstring>
#include <iostream>
#include <map>
#include <string>
#include <visp3/core/vpConfig.h>

BEGIN_VISP_NAMESPACE
class vpFeatureMoment;
class vpMomentObject;
/*!
 * \class vpFeatureMomentDatabase
 *
 * \ingroup group_visual_features
 *
 * \brief This class allows to register all feature moments (implemented in
 * vpFeatureMoment... classes) so they can access each other according to their
 * dependencies.
 *
 * Like moments (implemented in vpMoment... classes), a vpFeatureMoment needs
 * to have access to other vpFeatureMoment's values to be computed. In most
 * cases, a vpFeatureMoment needs both: vpMoments and vpFeatureMoments which
 * explains the two databases (see vpFeatureMoment::vpFeatureMoment). For example
 * vpFeatureMomentAlpha needs additional information about centered moments
 * vpMomentCentered AND their interaction matrices obtained by
 * vpFeatureMomentCentered in order to compute the moment's value from a
 * vpMomentObject. Like the vpMomentCentered is stored in a vpMomentDatabase, the
 * vpFeatureMomentCentered should be stored in a vpFeatureMomentDatabase.
 *
 * All moment features in a database can access each other freely at any time.
 * They can also verify if a moment feature is present in the database or not.
 * This code illustrates the use of both databases to handle dependencies
 * between moment primitives and moment features:
 *
 * \code
 * #include <visp3/core/vpPoint.h>
 *
 * #include <visp3/core/vpMomentBasic.h>
 * #include <visp3/core/vpMomentCInvariant.h>
 * #include <visp3/core/vpMomentCentered.h>
 * #include <visp3/core/vpMomentDatabase.h>
 * #include <visp3/core/vpMomentGravityCenter.h>
 * #include <visp3/core/vpMomentObject.h>
 *
 * #include <iostream>
 * #include <vector>
 * #include <visp3/visual_features/vpFeatureMomentBasic.h>
 * #include <visp3/visual_features/vpFeatureMomentCInvariant.h>
 * #include <visp3/visual_features/vpFeatureMomentCentered.h>
 * #include <visp3/visual_features/vpFeatureMomentDatabase.h>
 *
 * #ifdef ENABLE_VISP_NAMESPACE
 * using namespace VISP_NAMESPACE_NAME;
 * #endif
 *
 * int main()
 * {
 *   try {
 *
 *     vpPoint p;
 *     std::vector<vpPoint> vec_p; // vector that contains the vertices
 *
 *     p.set_x(1); p.set_y(1); // coordinates in meters in the image plane (vertex 1)
 *     vec_p.push_back(p);
 *     p.set_x(2); p.set_y(2); // coordinates in meters in the image plane (vertex 2)
 *     vec_p.push_back(p);
 *
 *     //////////////////////////////REFERENCE VALUES////////////////////////////////
 *     vpMomentObject obj(6); // Init object of order 6 because we are
 *                           // computing C-invariants
 *     obj.setType(vpMomentObject::DISCRETE); // Discrete mode for object
 *     obj.fromVector(vec_p);
 *
 *     vpMomentDatabase mdb;     // database for moment primitives. This will
 *                               // only contain the basic moment.
 *     vpMomentCentered mc;      // Centered moment
 *     vpMomentBasic bm;         // Basic moment
 *     vpMomentGravityCenter gc; // gravity center
 *     vpMomentCInvariant ci;    // C-type invariant
 *
 *     bm.linkTo(mdb); //add basic moment to moment database
 *     mc.linkTo(mdb); //add centered moment to moment database
 *     gc.linkTo(mdb); //add gravity center to moment database
 *     ci.linkTo(mdb); //add C-invariant to moment database
 *
 *     vpFeatureMomentDatabase fmdb; // feature moment database to store
 *                                   // feature dependencies
 *
 *     // Declare and link moments to database
 *     vpFeatureMomentBasic fmb(mdb,0.,0.,1.,&fmdb); fmb.linkTo(fmdb);
 *     vpFeatureMomentCentered fmc(mdb,0.,0.,1.,&fmdb); fmc.linkTo(fmdb);
 *     vpFeatureMomentCInvariant fci(mdb,0.,0.,1.,&fmdb); fci.linkTo(fmdb);
 *
 *     // update the whole moment database
 *     mdb.updateAll(obj);
 *
 *     // Compute moments in the correct order with the object
 *     bm.compute();
 *     gc.compute();
 *     mc.compute();
 *     ci.compute();
 *
 *     // update the whole feature moment database with a plane
 *     fmb.update(0.,0.,1.);
 *     fmc.update(0.,0.,1.);
 *     fci.update(0.,0.,1.);
 *
 *     std::cout << fci.interaction(vpFeatureMomentCInvariant::selectC1()) << std::endl;
 *   }
 *   catch(const vpException &e){
 *       std::cout << e.getMessage() << std::endl;
 *   }
 *
 *   return 0;
 * }
 * \endcode
*/
class VISP_EXPORT vpFeatureMomentDatabase
{
private:
  struct vpCmpStr_t
  {
    bool operator()(const std::string &a, const std::string &b) const { return std::strcmp(a.c_str(), b.c_str()) < 0; }
    std::string operator=(const std::string) { return std::string(); } // Only to avoid a warning under Visual with /Wall flag
  };
  std::map<const std::string, vpFeatureMoment *, vpCmpStr_t> featureMomentsDataBase;
  void add(vpFeatureMoment &featureMoment, const std::string &name);

public:
  /*!
   * Default constructor.
   */
  vpFeatureMomentDatabase() : featureMomentsDataBase() { }

  /*!
   * Virtual destructor that does nothing.
   */
  virtual ~vpFeatureMomentDatabase() { }

  virtual void updateAll(double A = 0.0, double B = 0.0, double C = 1.0);

  vpFeatureMoment &get(const std::string &feature_name, bool &found);

  // friend VISP_EXPORT std::ostream & operator<<(std::ostream& os, const
  // vpFeatureMomentDatabase& m);
  friend class vpFeatureMoment;
};
END_VISP_NAMESPACE
#endif
