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#ifndef FUSE_MODELS__UNICYCLE_2D_STATE_COST_FUNCTOR_HPP_
#define FUSE_MODELS__UNICYCLE_2D_STATE_COST_FUNCTOR_HPP_

#include <fuse_models/unicycle_2d_predict.hpp>

#include <fuse_core/eigen.hpp>
#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/util.hpp>


namespace fuse_models
{

class Unicycle2DStateCostFunctor
{
public:
  FUSE_MAKE_ALIGNED_OPERATOR_NEW()


  Unicycle2DStateCostFunctor(const double dt, const fuse_core::Matrix8d & A);

  template<typename T>
  bool operator()(
    const T * const position1,
    const T * const yaw1,
    const T * const vel_linear1,
    const T * const vel_yaw1,
    const T * const acc_linear1,
    const T * const position2,
    const T * const yaw2,
    const T * const vel_linear2,
    const T * const vel_yaw2,
    const T * const acc_linear2,
    T * residual) const;

private:
  double dt_;
  fuse_core::Matrix8d A_;
};

Unicycle2DStateCostFunctor::Unicycle2DStateCostFunctor(
  const double dt,
  const fuse_core::Matrix8d & A)
: dt_(dt),
  A_(A)
{
}

template<typename T>
bool Unicycle2DStateCostFunctor::operator()(
  const T * const position1,
  const T * const yaw1,
  const T * const vel_linear1,
  const T * const vel_yaw1,
  const T * const acc_linear1,
  const T * const position2,
  const T * const yaw2,
  const T * const vel_linear2,
  const T * const vel_yaw2,
  const T * const acc_linear2,
  T * residual) const
{
  T position_pred[2];
  T yaw_pred[1];
  T vel_linear_pred[2];
  T vel_yaw_pred[1];
  T acc_linear_pred[2];
  predict(
    position1,
    yaw1,
    vel_linear1,
    vel_yaw1,
    acc_linear1,
    T(dt_),
    position_pred,
    yaw_pred,
    vel_linear_pred,
    vel_yaw_pred,
    acc_linear_pred);

  Eigen::Map<Eigen::Matrix<T, 8, 1>> residuals_map(residual);
  residuals_map(0) = position2[0] - position_pred[0];
  residuals_map(1) = position2[1] - position_pred[1];
  residuals_map(2) = yaw2[0] - yaw_pred[0];
  residuals_map(3) = vel_linear2[0] - vel_linear_pred[0];
  residuals_map(4) = vel_linear2[1] - vel_linear_pred[1];
  residuals_map(5) = vel_yaw2[0] - vel_yaw_pred[0];
  residuals_map(6) = acc_linear2[0] - acc_linear_pred[0];
  residuals_map(7) = acc_linear2[1] - acc_linear_pred[1];

  fuse_core::wrapAngle2D(residuals_map(2));

  // Scale the residuals by the square root information matrix to account for
  // the measurement uncertainty.
  residuals_map.applyOnTheLeft(A_.template cast<T>());

  return true;
}

}  // namespace fuse_models

#endif  // FUSE_MODELS__UNICYCLE_2D_STATE_COST_FUNCTOR_HPP_