//Using statements omitted

/// <summary>
/// A simple struct that stores information describing a clump of bright pixels. This clump is then
/// matched with a laser dot being tracked from the previous frame or is identified as a new laser dot. 
/// </summary>
public struct PixelClump
{
	/*
	 *  STRUCT PROPERTIES
	 */
	/// <summary>
	/// clump position from average pixel position
	/// </summary>
	public Vector2d AveragePosition;
	/// <summary>
	/// the average pixel position in this clump
	/// </summary>
	public Point PositionSum;
	/// <summary>
	/// the sum of all pixel weights
	/// </summary>
	public int TotalWeight;
	/// <summary>
	/// the average pixel weight
	/// </summary>
	public int AverageWeight;
	/// <summary>
	/// the number of pixels in this clump
	/// </summary>
	public int NumPixels;
	/// <summary>
	/// indicates if this clump has been claimed by a laser dot
	/// </summary>
	public Boolean Claimed;
	/// <summary>
	/// the laser dot that claims this laser dot
	/// </summary>
	public LaserDot LaserDot;
	/// <summary>
	/// the distance of this laser dot from the expected position
	/// </summary>
	public double DistanceFromExpected;

	/*
	 *  CONSTRUCTOR
	 */
	/// <summary>
	/// the constructor for a new pixel clump
	/// </summary>
	public PixelClump(bool newClaimed)
	{
		PositionSum = new Point(0, 0);
		TotalWeight = 0;
		NumPixels = 0;
		AveragePosition = Vector2d.Zero;
		AverageWeight = 0;

		Claimed = newClaimed;
		LaserDot = null;
		DistanceFromExpected = 0;
	}

	/*
	 *  CLAIM / UNCLAIM
	 */
	/// <summary>
	/// claims the laser dot as belonging to the specified laser dot
	/// </summary>
	/// <param name="dot">the laser dot claiming this pixel clump</param>
	/// <param name="distance">the distance from the expected laser dot position to this clump's position</param>
	public void claim(LaserDot dot, double distance)
	{
		Claimed = true;
		LaserDot = dot;
		DistanceFromExpected = distance;
	}
	
	/// <summary>
	/// sets this clump to be unclaimed by any laser dots
	/// </summary>
	public void unclaim()
	{
		LaserDot.unclaim();
		Claimed = false;
		LaserDot = null;
		DistanceFromExpected = 0;
	}
}