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#ifndef FUSE_LOSS__GEMAN_MCCLURE_LOSS_HPP_
#define FUSE_LOSS__GEMAN_MCCLURE_LOSS_HPP_

#include <ostream>
#include <string>

#include <fuse_core/loss.hpp>

#include <boost/serialization/access.hpp>
#include <boost/serialization/base_object.hpp>
#include <boost/serialization/export.hpp>


namespace fuse_loss
{

class GemanMcClureLoss : public fuse_core::Loss
{
public:
  FUSE_LOSS_DEFINITIONS(GemanMcClureLoss)


  explicit GemanMcClureLoss(const double a = 1.0);

  ~GemanMcClureLoss() override = default;

  void initialize(
    fuse_core::node_interfaces::NodeInterfaces<
      fuse_core::node_interfaces::Base,
      fuse_core::node_interfaces::Logging,
      fuse_core::node_interfaces::Parameters
    > interfaces,
    const std::string & name) override;

  void print(std::ostream & stream = std::cout) const override;

  ceres::LossFunction * lossFunction() const override;

  double a() const
  {
    return a_;
  }

  void a(const double a)
  {
    a_ = a;
  }

private:
  double a_{1.0};

  // Allow Boost Serialization access to private methods
  friend class boost::serialization::access;

  template<class Archive>
  void serialize(Archive & archive, const unsigned int /* version */)
  {
    archive & boost::serialization::base_object<fuse_core::Loss>(*this);
    archive & a_;
  }
};

}  // namespace fuse_loss

BOOST_CLASS_EXPORT_KEY(fuse_loss::GemanMcClureLoss);

#endif  // FUSE_LOSS__GEMAN_MCCLURE_LOSS_HPP_