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#ifndef FUSE_VARIABLES__ACCELERATION_ANGULAR_2D_STAMPED_HPP_
#define FUSE_VARIABLES__ACCELERATION_ANGULAR_2D_STAMPED_HPP_

#include <ostream>

#include <fuse_core/uuid.hpp>
#include <fuse_core/serialization.hpp>
#include <fuse_core/variable.hpp>
#include <fuse_variables/fixed_size_variable.hpp>
#include <fuse_variables/stamped.hpp>

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

#include <rclcpp/time.hpp>

namespace fuse_variables
{

class AccelerationAngular2DStamped : public FixedSizeVariable<1>, public Stamped
{
public:
  FUSE_VARIABLE_DEFINITIONS(AccelerationAngular2DStamped)


  enum : size_t
  {
    YAW = 0
  };

  AccelerationAngular2DStamped() = default;

  explicit AccelerationAngular2DStamped(
    const rclcpp::Time & stamp,
    const fuse_core::UUID & device_id = fuse_core::uuid::NIL);

  double & yaw() {return data_[YAW];}

  const double & yaw() const {return data_[YAW];}

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

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<FixedSizeVariable<SIZE>>(*this);
    archive & boost::serialization::base_object<Stamped>(*this);
  }
};

}  // namespace fuse_variables

BOOST_CLASS_EXPORT_KEY(fuse_variables::AccelerationAngular2DStamped);

#endif  // FUSE_VARIABLES__ACCELERATION_ANGULAR_2D_STAMPED_HPP_