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#ifndef FUSE_CONSTRAINTS__NORMAL_PRIOR_ORIENTATION_3D_EULER_COST_FUNCTOR_HPP_
#define FUSE_CONSTRAINTS__NORMAL_PRIOR_ORIENTATION_3D_EULER_COST_FUNCTOR_HPP_

#include <ceres/rotation.h>
#include <Eigen/Core>

#include <vector>

#include <fuse_core/eigen.hpp>
#include <fuse_core/util.hpp>
#include <fuse_variables/orientation_3d_stamped.hpp>


namespace fuse_constraints
{

class NormalPriorOrientation3DEulerCostFunctor
{
public:
  using Euler = fuse_variables::Orientation3DStamped::Euler;

  NormalPriorOrientation3DEulerCostFunctor(
    const fuse_core::MatrixXd & A,
    const fuse_core::VectorXd & b,
    const std::vector<Euler> & axes = {Euler::ROLL, Euler::PITCH, Euler::YAW}) :  //NOLINT
  A_(A),
  b_(b),
  axes_(axes)
  {
  }

  template<typename T>
  bool operator()(const T * const orientation, T * residuals) const
  {
    using fuse_variables::Orientation3DStamped;

    for (size_t i = 0; i < axes_.size(); ++i) {
      T angle;
      switch (axes_[i]) {
        case Euler::ROLL:
          {
            angle = fuse_core::getRoll(
              orientation[0], orientation[1], orientation[2],
              orientation[3]);
            break;
          }
        case Euler::PITCH:
          {
            angle =
              fuse_core::getPitch(orientation[0], orientation[1], orientation[2], orientation[3]);
            break;
          }
        case Euler::YAW:
          {
            angle =
              fuse_core::getYaw(orientation[0], orientation[1], orientation[2], orientation[3]);
            break;
          }
        default:
          {
            throw std::runtime_error(
                    "The provided axis specified is unknown. "
                    "I should probably be more informative here");
          }
      }
      residuals[i] = angle - T(b_[i]);
    }

    Eigen::Map<Eigen::Matrix<T, Eigen::Dynamic, 1>> residuals_map(residuals, A_.rows());
    residuals_map.applyOnTheLeft(A_.template cast<T>());

    return true;
  }

private:
  fuse_core::MatrixXd A_;
  fuse_core::VectorXd b_;
  std::vector<Euler> axes_;
};

}  // namespace fuse_constraints

#endif  // FUSE_CONSTRAINTS__NORMAL_PRIOR_ORIENTATION_3D_EULER_COST_FUNCTOR_HPP_