namespace mp2p_icp_filters

namespace mp2p_icp_filters {

// typedefs

typedef std::vector<FilterBase::Ptr> FilterPipeline;
typedef std::vector<Generator::Ptr> GeneratorSet;

// structs

struct NotImplementedError;

// classes

class FilterBase;
class FilterBoundingBox;
class FilterDecimateVoxels;
class FilterDeleteLayer;
class FilterEdgesPlanes;
class Generator;
class PointCloudToVoxelGrid;

// global functions

void apply_filter_pipeline(const FilterPipeline& filters, mp2p_icp::metric_map_t& inOut);

FilterPipeline filter_pipeline_from_yaml(
    const mrpt::containers::yaml& c,
    const mrpt::system::VerbosityLevel& vLevel = mrpt::system::LVL_INFO
    );

FilterPipeline filter_pipeline_from_yaml_file(
    const std::string& filename,
    const mrpt::system::VerbosityLevel& vLevel = mrpt::system::LVL_INFO
    );

void apply_generators(const GeneratorSet& generators, const mrpt::obs::CObservation& obs, mp2p_icp::metric_map_t& output);

mp2p_icp::metric_map_t apply_generators(
    const GeneratorSet& generators,
    const mrpt::obs::CObservation& obs
    );

void apply_generators(
    const GeneratorSet& generators,
    const mrpt::obs::CSensoryFrame& sf,
    mp2p_icp::metric_map_t& output
    );

mp2p_icp::metric_map_t apply_generators(
    const GeneratorSet& generators,
    const mrpt::obs::CSensoryFrame& sf
    );

GeneratorSet generators_from_yaml(
    const mrpt::containers::yaml& c,
    const mrpt::system::VerbosityLevel& vLevel = mrpt::system::LVL_INFO
    );

GeneratorSet generators_from_yaml_file(
    const std::string& filename,
    const mrpt::system::VerbosityLevel& vLevel = mrpt::system::LVL_INFO
    );

} // namespace mp2p_icp_filters