// MIT License
//
// Copyright (c) 2022 Ignacio Vizzo, Tiziano Guadagnino, Benedikt Mersch, Cyrill
// Stachniss.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
#pragma once

#include <Eigen/Core>
#include <tuple>
#include <vector>

namespace Eigen {
using Matrix6d = Eigen::Matrix<double, 6, 6>;
using Matrix3_6d = Eigen::Matrix<double, 3, 6>;
using Vector6d = Eigen::Matrix<double, 6, 1>;
}  // namespace Eigen

namespace kiss_icp {

Eigen::Vector6d ComputeUpdate(const std::vector<Eigen::Vector3d> &source,
                              const std::vector<Eigen::Vector3d> &target,
                              double th);

std::tuple<Eigen::Vector6d, Eigen::Matrix4d> AlignClouds(const std::vector<Eigen::Vector3d> &source,
                                                         const std::vector<Eigen::Vector3d> &target,
                                                         double th);
}  // namespace kiss_icp
