{"action":"created","comment":{"url":"https://api.github.com/repos/locusrobotics/fuse/pulls/comments/205523496","pull_request_review_id":140795537,"id":205523496,"node_id":"MDI0OlB1bGxSZXF1ZXN0UmV2aWV3Q29tbWVudDIwNTUyMzQ5Ng==","diff_hunk":"@@ -0,0 +1,149 @@\n+/*\n+ * Software License Agreement (BSD License)\n+ *\n+ *  Copyright (c) 2018, Locus Robotics\n+ *  All rights reserved.\n+ *\n+ *  Redistribution and use in source and binary forms, with or without\n+ *  modification, are permitted provided that the following conditions\n+ *  are met:\n+ *\n+ *   * Redistributions of source code must retain the above copyright\n+ *     notice, this list of conditions and the following disclaimer.\n+ *   * Redistributions in binary form must reproduce the above\n+ *     copyright notice, this list of conditions and the following\n+ *     disclaimer in the documentation and/or other materials provided\n+ *     with the distribution.\n+ *   * Neither the name of the copyright holder nor the names of its\n+ *     contributors may be used to endorse or promote products derived\n+ *     from this software without specific prior written permission.\n+ *\n+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS\n+ *  \"AS IS\" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT\n+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS\n+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE\n+ *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,\n+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,\n+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;\n+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER\n+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT\n+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN\n+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE\n+ *  POSSIBILITY OF SUCH DAMAGE.\n+ */\n+#ifndef FUSE_CONSTRAINTS_NORMAL_PRIOR_ORIENTATION_3D_EULER_COST_FUNCTOR_H\n+#define FUSE_CONSTRAINTS_NORMAL_PRIOR_ORIENTATION_3D_EULER_COST_FUNCTOR_H\n+\n+#include <fuse_constraints/util.h>\n+#include <fuse_variables/orientation_3d_stamped.h>\n+\n+#include <angles/angles.h>\n+#include <ceres/internal/disable_warnings.h>\n+#include <ceres/internal/eigen.h>\n+#include <ceres/rotation.h>\n+#include <Eigen/Core>\n+\n+\n+namespace fuse_constraints\n+{\n+\n+/**\n+ * @brief Create a prior cost function on a 3D orientation variable (quaternion)\n+ *\n+ * The Ceres::NormalPrior cost function only supports a single variable. This is a convenience cost function that\n+ * applies a prior constraint on a 3D orientation.\n+ *\n+ * The cost function is of the form:\n+ *\n+ *             ||    [  roll - b(1)] ||^2\n+ *   cost(x) = ||A * [  pitch - b(2)] 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