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#ifndef FUSE_CORE__VARIABLE_HPP_
#define FUSE_CORE__VARIABLE_HPP_

#include <iostream>
#include <limits>
#include <string>

#include <boost/serialization/access.hpp>
#include <boost/type_index/stl_type_index.hpp>
#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/local_parameterization.hpp>
#include <fuse_core/serialization.hpp>
#include <fuse_core/uuid.hpp>

#define FUSE_VARIABLE_CLONE_DEFINITION(...) \
  fuse_core::Variable::UniquePtr clone() const override \
  { \
    return __VA_ARGS__::make_unique(*this); \
  }

#define FUSE_VARIABLE_SERIALIZE_DEFINITION(...) \
  void serialize(fuse_core::BinaryOutputArchive & archive) const override \
  { \
    archive << *this; \
  }  /* NOLINT */ \
  void serialize(fuse_core::TextOutputArchive & archive) const override \
  { \
    archive << *this; \
  }  /* NOLINT */ \
  void deserialize(fuse_core::BinaryInputArchive & archive) override \
  { \
    archive >> *this; \
  }  /* NOLINT */ \
  void deserialize(fuse_core::TextInputArchive & archive) override \
  { \
    archive >> *this; \
  }

#define FUSE_VARIABLE_TYPE_DEFINITION(...) \
  struct detail \
  { \
    static std::string type() \
    { \
      return boost::typeindex::stl_type_index::type_id<__VA_ARGS__>().pretty_name(); \
    }  /* NOLINT */ \
  };  /* NOLINT */ \
  std::string type() const override \
  { \
    return detail::type(); \
  }

#define FUSE_VARIABLE_DEFINITIONS(...) \
  FUSE_SMART_PTR_DEFINITIONS(__VA_ARGS__) \
  FUSE_VARIABLE_TYPE_DEFINITION(__VA_ARGS__) \
  FUSE_VARIABLE_CLONE_DEFINITION(__VA_ARGS__) \
  FUSE_VARIABLE_SERIALIZE_DEFINITION(__VA_ARGS__)

#define FUSE_VARIABLE_DEFINITIONS_WITH_EIGEN(...) \
  FUSE_SMART_PTR_DEFINITIONS_WITH_EIGEN(__VA_ARGS__) \
  FUSE_VARIABLE_TYPE_DEFINITION(__VA_ARGS__) \
  FUSE_VARIABLE_CLONE_DEFINITION(__VA_ARGS__) \
  FUSE_VARIABLE_SERIALIZE_DEFINITION(__VA_ARGS__)


namespace fuse_core
{

class Variable
{
public:
  FUSE_SMART_PTR_ALIASES_ONLY(Variable)


  Variable() = default;

  explicit Variable(const UUID & uuid);

  virtual ~Variable() = default;

  const UUID & uuid() const {return uuid_;}

  virtual std::string type() const = 0;

  virtual size_t size() const = 0;

  virtual size_t localSize() const {return size();}

  virtual const double * data() const = 0;

  virtual double * data() = 0;

  virtual void print(std::ostream & stream = std::cout) const = 0;

  virtual Variable::UniquePtr clone() const = 0;

  virtual fuse_core::LocalParameterization * localParameterization() const
  {
    return nullptr;
  }

  virtual double lowerBound(size_t /* index */) const
  {
    return std::numeric_limits<double>::lowest();
  }

  virtual double upperBound(size_t /* index */) const
  {
    return std::numeric_limits<double>::max();
  }

  virtual bool holdConstant() const
  {
    return false;
  }

  virtual void serialize(fuse_core::BinaryOutputArchive & /* archive */) const = 0;

  virtual void serialize(fuse_core::TextOutputArchive & /* archive */) const = 0;

  virtual void deserialize(fuse_core::BinaryInputArchive & /* archive */) = 0;

  virtual void deserialize(fuse_core::TextInputArchive & /* archive */) = 0;

private:
  fuse_core::UUID uuid_;

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

  template<class Archive>
  void serialize(Archive & archive, const unsigned int /* version */)
  {
    archive & uuid_;
  }
};

std::ostream & operator<<(std::ostream & stream, const Variable & variable);

}  // namespace fuse_core

#endif  // FUSE_CORE__VARIABLE_HPP_