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#ifndef FUSE_CONSTRAINTS__ABSOLUTE_ORIENTATION_3D_STAMPED_EULER_CONSTRAINT_HPP_
#define FUSE_CONSTRAINTS__ABSOLUTE_ORIENTATION_3D_STAMPED_EULER_CONSTRAINT_HPP_

#include <ostream>
#include <string>
#include <vector>

#include <fuse_core/constraint.hpp>
#include <fuse_core/eigen.hpp>
#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/serialization.hpp>
#include <fuse_core/uuid.hpp>
#include <fuse_variables/orientation_3d_stamped.hpp>
#include <geometry_msgs/msg/pose_with_covariance.hpp>
#include <geometry_msgs/msg/quaternion.hpp>

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


namespace fuse_constraints
{

class AbsoluteOrientation3DStampedEulerConstraint : public fuse_core::Constraint
{
public:
  FUSE_CONSTRAINT_DEFINITIONS(AbsoluteOrientation3DStampedEulerConstraint)

  using Euler = fuse_variables::Orientation3DStamped::Euler;

  AbsoluteOrientation3DStampedEulerConstraint() = default;

  AbsoluteOrientation3DStampedEulerConstraint(
    const std::string & source,
    const fuse_variables::Orientation3DStamped & orientation,
    const fuse_core::VectorXd & mean,
    const fuse_core::MatrixXd & covariance,
    const std::vector<Euler> & axes);

  virtual ~AbsoluteOrientation3DStampedEulerConstraint() = default;

  const std::vector<Euler> axes() const {return axes_;}

  const fuse_core::VectorXd & mean() const {return mean_;}

  const fuse_core::MatrixXd & sqrtInformation() const {return sqrt_information_;}

  fuse_core::MatrixXd covariance() const;

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

  ceres::CostFunction * costFunction() const override;

protected:
  fuse_core::VectorXd mean_;
  fuse_core::MatrixXd sqrt_information_;
  std::vector<Euler> axes_;

private:
  // 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::Constraint>(*this);
    archive & mean_;
    archive & sqrt_information_;
    archive & axes_;
  }
};

}  // namespace fuse_constraints

BOOST_CLASS_EXPORT_KEY(fuse_constraints::AbsoluteOrientation3DStampedEulerConstraint);

#endif  // FUSE_CONSTRAINTS__ABSOLUTE_ORIENTATION_3D_STAMPED_EULER_CONSTRAINT_HPP_