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#ifndef FUSE_OPTIMIZERS__OPTIMIZER_HPP_
#define FUSE_OPTIMIZERS__OPTIMIZER_HPP_

#include <memory>
#include <string>
#include <unordered_map>
#include <utility>
#include <vector>

#include <diagnostic_updater/diagnostic_updater.hpp>
#include <fuse_core/callback_wrapper.hpp>
#include <fuse_core/graph.hpp>
#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/motion_model.hpp>
#include <fuse_core/publisher.hpp>
#include <fuse_core/sensor_model.hpp>
#include <fuse_core/transaction.hpp>
#include <pluginlib/class_loader.hpp>
#include <rclcpp/rclcpp.hpp>


namespace fuse_optimizers
{

class Optimizer
{
public:
  FUSE_SMART_PTR_ALIASES_ONLY(Optimizer)


  Optimizer(
    fuse_core::node_interfaces::NodeInterfaces<ALL_FUSE_CORE_NODE_INTERFACES> interfaces,
    fuse_core::Graph::UniquePtr graph = nullptr
  );

  virtual ~Optimizer();

protected:
  // The unique ptrs returned by pluginlib have a custom deleter. This makes specifying the type
  // rather annoying as it is not equivalent to Class::UniquePtr
  using MotionModelUniquePtr = class_loader::ClassLoader::UniquePtr<fuse_core::MotionModel>;
  using MotionModels = std::unordered_map<std::string, MotionModelUniquePtr>;
  using PublisherUniquePtr = class_loader::ClassLoader::UniquePtr<fuse_core::Publisher>;
  using Publishers = std::unordered_map<std::string, PublisherUniquePtr>;
  using SensorModelUniquePtr = class_loader::ClassLoader::UniquePtr<fuse_core::SensorModel>;

  struct SensorModelInfo
  {
    SensorModelInfo(SensorModelUniquePtr model, const bool ignition)
    : model(std::move(model)), ignition(ignition)
    {
    }

    SensorModelUniquePtr model;
    bool ignition;
  };

  using SensorModels = std::unordered_map<std::string, SensorModelInfo>;

  // Some internal book-keeping data structures
  using MotionModelGroup = std::vector<std::string>;

  using AssociatedMotionModels = std::unordered_map<std::string, MotionModelGroup>;

  fuse_core::node_interfaces::NodeInterfaces<ALL_FUSE_CORE_NODE_INTERFACES> interfaces_;
  rclcpp::Clock::SharedPtr clock_;
  rclcpp::Logger logger_;

  AssociatedMotionModels associated_motion_models_;
  fuse_core::Graph::UniquePtr graph_;

  pluginlib::ClassLoader<fuse_core::MotionModel> motion_model_loader_;
  MotionModels motion_models_;
  pluginlib::ClassLoader<fuse_core::Publisher> publisher_loader_;
  Publishers publishers_;
  pluginlib::ClassLoader<fuse_core::SensorModel> sensor_model_loader_;
  SensorModels sensor_models_;

  diagnostic_updater::Updater diagnostic_updater_;

  std::shared_ptr<fuse_core::CallbackAdapter> callback_queue_;


  virtual void transactionCallback(
    const std::string & sensor_name,
    fuse_core::Transaction::SharedPtr transaction) = 0;

  void loadMotionModels();

  void loadPublishers();

  void loadSensorModels();

  bool applyMotionModels(
    const std::string & sensor_name,
    fuse_core::Transaction & transaction) const;

  void notify(
    fuse_core::Transaction::ConstSharedPtr transaction,
    fuse_core::Graph::ConstSharedPtr graph);

  void injectCallback(
    const std::string & sensor_name,
    fuse_core::Transaction::SharedPtr transaction);

  void clearCallbacks();

  void startPlugins();

  void stopPlugins();

  virtual void setDiagnostics(diagnostic_updater::DiagnosticStatusWrapper & status);
};

}  // namespace fuse_optimizers

#endif  // FUSE_OPTIMIZERS__OPTIMIZER_HPP_