"""Shared utilities (E-CC-HELPERS / AZ-264).

Each helper has its own task (AZ-276..AZ-283). This package exposes the
ones that have landed so consumers can depend on a stable public surface
without reaching into the helper modules directly.
"""

from gps_denied_onboard.helpers.descriptor_normaliser import (
    ALLOWED_DTYPES,
    DescriptorNormaliser,
    DescriptorNormaliserError,
)
from gps_denied_onboard.helpers.engine_filename_schema import (
    ALLOWED_PRECISIONS,
    ENGINE_SUFFIX,
    EngineFilenameSchema,
    EngineFilenameSchemaError,
)
from gps_denied_onboard.helpers.imu_preintegrator import (
    CombinedImuFactor,
    ImuPreintegrationError,
    ImuPreintegrator,
    make_imu_preintegrator,
)
from gps_denied_onboard.helpers.lightglue_runtime import (
    LightGlueConcurrentAccessError,
    LightGlueRuntime,
    LightGlueRuntimeError,
)
from gps_denied_onboard.helpers.ransac_filter import (
    RansacFilter,
    RansacFilterError,
    RansacResult,
)
from gps_denied_onboard.helpers.se3_utils import (
    SE3,
    Se3InvalidMatrixError,
    adjoint,
    exp_map,
    is_valid_rotation,
    log_map,
    matrix_to_se3,
    se3_to_matrix,
)
from gps_denied_onboard.helpers.sha256_sidecar import (
    SIDECAR_SUFFIX,
    Sha256Sidecar,
    Sha256SidecarError,
)
from gps_denied_onboard.helpers.wgs_converter import (
    MAX_ZOOM,
    WEB_MERCATOR_MAX_LAT_DEG,
    WgsConversionError,
    WgsConverter,
)

__all__ = [
    "ALLOWED_DTYPES",
    "ALLOWED_PRECISIONS",
    "ENGINE_SUFFIX",
    "MAX_ZOOM",
    "SE3",
    "SIDECAR_SUFFIX",
    "WEB_MERCATOR_MAX_LAT_DEG",
    "CombinedImuFactor",
    "DescriptorNormaliser",
    "DescriptorNormaliserError",
    "EngineFilenameSchema",
    "EngineFilenameSchemaError",
    "ImuPreintegrationError",
    "ImuPreintegrator",
    "LightGlueConcurrentAccessError",
    "LightGlueRuntime",
    "LightGlueRuntimeError",
    "RansacFilter",
    "RansacFilterError",
    "RansacResult",
    "Se3InvalidMatrixError",
    "Sha256Sidecar",
    "Sha256SidecarError",
    "WgsConversionError",
    "WgsConverter",
    "adjoint",
    "exp_map",
    "is_valid_rotation",
    "log_map",
    "make_imu_preintegrator",
    "matrix_to_se3",
    "se3_to_matrix",
]
