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/**
  * Modification (C) 2022, LEIDOS
  * - Replaced PCL_INDEX_SIZE and PCL_INDEX_SIGNED with sizeof(int) and true respectively to match their 
  *   earlir version defaults
  * - Removed conflicting IndicesAllocator and Indices declarations for pcl 1.10 compatibility
  */ 

#pragma once

/**
 * \file pcl/types.h
 *
 * \brief Defines basic non-point types used by PCL
 * \ingroup common
 */

#include <pcl/pcl_config.h>
#include <pcl/pcl_macros.h>
#include <vector>

#include <cstdint>

#include <Eigen/Core>

namespace pcl
{
  namespace detail {
    /**
     * \brief int_type::type refers to an integral type that satisfies template parameters
     * \tparam Bits number of bits in the integral type
     * \tparam Signed signed or unsigned nature of the type
     */
    template <std::size_t Bits, bool Signed = true>
    struct int_type { using type = void; };

    /**
     * \brief helper type to use for `int_type::type`
     * \see int_type
     */
    template <std::size_t Bits, bool Signed = true>
    using int_type_t = typename int_type<Bits, Signed>::type;

    template <>
    struct int_type<8, true> { using type = std::int8_t; };
    template <>
    struct int_type<8, false> { using type = std::uint8_t; };
    template <>
    struct int_type<16, true> { using type = std::int16_t; };
    template <>
    struct int_type<16, false> { using type = std::uint16_t; };
    template <>
    struct int_type<32, true> { using type = std::int32_t; };
    template <>
    struct int_type<32, false> { using type = std::uint32_t; };
    template <>
    struct int_type<64, true> { using type = std::int64_t; };
    template <>
    struct int_type<64, false> { using type = std::uint64_t; };

    /**
     * \brief number of bits in PCL's index type
     *
     * Please use PCL_INDEX_SIZE when building PCL to choose a size best suited for your needs.
     * PCL 1.12 will come with default 32
     *
     * PCL 1.11 has a default size = sizeof(int)
     */
    constexpr std::uint8_t index_type_size = sizeof(int) * 8;

    /**
     * \brief signed/unsigned nature of PCL's index type
     * Please use PCL_INDEX_SIGNED when building PCL to choose a type best suited for your needs.
     * Default: signed
     */
    constexpr bool index_type_signed = true;
}  // namespace detail

  /**
   * \brief Type used for an index in PCL
   *
   * Default index_t = int for PCL 1.11, std::int32_t for PCL >= 1.12
   */
  using index_t = detail::int_type_t<detail::index_type_size, detail::index_type_signed>;
  static_assert(!std::is_void<index_t>::value, "`index_t` can't have type `void`");

     /**
   * \brief Type used for an unsigned index in PCL
   *
   * Unsigned index that mirrors the type of the index_t
   */
  using uindex_t = detail::int_type_t<detail::index_type_size, false>;
  static_assert(!std::is_signed<uindex_t>::value, "`uindex_t` must be unsigned");

  /**
   * \brief Type used for aligned vector of Eigen objects in PCL
   */
  template <typename T>
  using AlignedVector = std::vector<T, Eigen::aligned_allocator<T>>;
}  // namespace pcl