/**
\file
\brief External library declaration to preform the Hungarian algorithm (Munkres)
*/

/*
 *   Copyright (c) 2007 John Weaver
 *
 *   This program 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.
 *
 *   This program is distributed in the hope that it will be useful,
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *   GNU General Public License for more details.
 *
 *   You should have received a copy of the GNU General Public License
 *   along with this program; if not, write to the Free Software
 *   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307 USA
 */

#if !defined(_MUNKRES_H_)
#define _MUNKRES_H_

#include <matrix.h>

#include <cmath>
#include <list>
#include <utility>
#include <vector>

#include <Eigen/Dense>
#include <Eigen/Cholesky>

#include <boost/shared_ptr.hpp>

using Eigen::MatrixXd;

using namespace std;

typedef struct 
{
	int row, col;
	
}orderedPair;

typedef boost::shared_ptr<orderedPair> orderedPairPtr;


class Munkres {
public:
    void solve(Matrix<double> &m);
	double solve(MatrixXd& m_in,vector<orderedPairPtr>& results);
	
private:
    static const int NORMAL = 0;
    static const int STAR = 1;
    static const int PRIME = 2; 
    inline bool find_uncovered_in_matrix(double,int&,int&);
    inline bool pair_in_list(const std::pair<int,int> &, const std::list<std::pair<int,int> > &);
    int step1(void);
    int step2(void);
    int step3(void);
    int step4(void);
    int step5(void);
    int step6(void);
    Matrix<int> mask_matrix;
    Matrix<double> matrix;
    bool *row_mask;
    bool *col_mask;
    int saverow, savecol;
};

double munkers_wrapper(MatrixXd&cost_mat,vector<orderedPairPtr>&assignments);

#endif /* !defined(_MUNKRES_H_) */