///////////////////////////////////////////////////////////////////////////////

// BSD 3-Clause License

//

// Copyright (C) 2022-2023, Heriot-Watt University

// Copyright note valid unless otherwise stated in individual files.

// All rights reserved.

///////////////////////////////////////////////////////////////////////////////

#ifndef CROCODDYL_CORE_RESIDUALS_JOINT_ACCELERATION_HPP_

#define CROCODDYL_CORE_RESIDUALS_JOINT_ACCELERATION_HPP_

#include "crocoddyl/core/actuation-base.hpp"

#include "crocoddyl/core/data/joint.hpp"

#include "crocoddyl/core/fwd.hpp"

#include "crocoddyl/core/residual-base.hpp"

namespace crocoddyl {

/**

 * @brief Define a joint-acceleration residual

 *

 * This residual function is defined as

 * \f$\mathbf{r}=\mathbf{u}-\mathbf{u}^*\f$, where

 * \f$\mathbf{u},\mathbf{u}^*\in~\mathbb{R}^{nu}\f$ are the current and

 * reference joint acceleration, respectively. Note that the dimension of the

 * residual vector is obtained from `StateAbstract::nv`, as it represents the

 * generalized acceleration.

 *

 * Both residual and residual Jacobians are computed analytically.

 *

 * As described in ResidualModelAbstractTpl(), the residual value and its

 * Jacobians are calculated by `calc` and `calcDiff`, respectively.

 *

 * \sa `ResidualModelAbstractTpl`, `calc()`, `calcDiff()`, `createData()`

 */

template <typename _Scalar>

class ResidualModelJointAccelerationTpl

    : public ResidualModelAbstractTpl<_Scalar> {

 public:

  typedef _Scalar Scalar;

  typedef MathBaseTpl<Scalar> MathBase;

  typedef ResidualModelAbstractTpl<Scalar> Base;

  typedef ResidualDataJointAccelerationTpl<Scalar> Data;

  typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;

  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;

  typedef StateAbstractTpl<Scalar> StateAbstract;

  typedef ActuationModelAbstractTpl<Scalar> ActuationModelAbstract;

  typedef typename MathBase::VectorXs VectorXs;

  typedef typename MathBase::MatrixXs MatrixXs;

  /**

   * @brief Initialize the joint-acceleration residual model

   *

   * @param[in] state       State description

   * @param[in] aref        Reference joint acceleration

   * @param[in] nu          Dimension of the control vector

   */

  ResidualModelJointAccelerationTpl(boost::shared_ptr<StateAbstract> state,

                                    const VectorXs& aref, const std::size_t nu);

  /**

   * @brief Initialize the joint-acceleration residual model

   *

   * The default `nu` value is obtained from `StateAbstractTpl::get_nv()`.

   *

   * @param[in] state       State description

   * @param[in] aref        Reference joint acceleration

   */

  ResidualModelJointAccelerationTpl(boost::shared_ptr<StateAbstract> state,

                                    const VectorXs& aref);

  /**

   * @brief Initialize the joint-acceleration residual model

   *

   * The default reference joint acceleration is obtained from

   * `MathBaseTpl<>::VectorXs::Zero(state->get_nv())`.

   *

   * @param[in] state       State description

   * @param[in] nu          Dimension of the control vector

   */

  ResidualModelJointAccelerationTpl(boost::shared_ptr<StateAbstract> state,

                                    const std::size_t nu);

  /**

   * @brief Initialize the joint-acceleration residual model

   *

   * The default reference joint acceleration is obtained from

   * `MathBaseTpl<>::VectorXs::Zero(state->get_nv())`. The default `nu` value is

   * obtained from `StateAbstractTpl::get_nv()`.

   *

   * @param[in] state       State description

   */

  ResidualModelJointAccelerationTpl(boost::shared_ptr<StateAbstract> state);

  virtual ~ResidualModelJointAccelerationTpl();

  /**

   * @brief Compute the joint-acceleration residual

   *

   * @param[in] data  Joint-acceleration residual data

   * @param[in] x     State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$

   * @param[in] u     Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$

   */

  virtual void calc(const boost::shared_ptr<ResidualDataAbstract>& data,

                    const Eigen::Ref<const VectorXs>& x,

                    const Eigen::Ref<const VectorXs>& u);

  /**

   * @brief @copydoc Base::calc(const boost::shared_ptr<ResidualDataAbstract>&

   * data, const Eigen::Ref<const VectorXs>& x)

   */

  virtual void calc(const boost::shared_ptr<ResidualDataAbstract>& data,

                    const Eigen::Ref<const VectorXs>& x);

  /**

   * @brief Compute the derivatives of the joint-acceleration residual

   *

   * @param[in] data  Joint-acceleration residual data

   * @param[in] x     State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$

   * @param[in] u     Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$

   */

  virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract>& data,

                        const Eigen::Ref<const VectorXs>& x,

                        const Eigen::Ref<const VectorXs>& u);

  /**

   * @brief Create the joint-acceleration residual data

   */

  virtual boost::shared_ptr<ResidualDataAbstract> createData(

      DataCollectorAbstract* const data);

  /**

   * @brief Return the reference joint-acceleration vector

   */

  const VectorXs& get_reference() const;

  /**

   * @brief Modify the reference joint-acceleration vector

   */

  void set_reference(const VectorXs& reference);

  /**

   * @brief Print relevant information of the joint-acceleration residual

   *

   * @param[out] os  Output stream object

   */

  virtual void print(std::ostream& os) const;

 protected:

  using Base::nr_;

  using Base::nu_;

  using Base::state_;

 private:

  VectorXs aref_;  //!< Reference joint-acceleration input

};

template <typename _Scalar>

struct ResidualDataJointAccelerationTpl

    : public ResidualDataAbstractTpl<_Scalar> {

  typedef _Scalar Scalar;

  typedef MathBaseTpl<Scalar> MathBase;

  typedef ResidualDataAbstractTpl<Scalar> Base;

  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;

  template <template <typename Scalar> class Model>

                                   DataCollectorAbstract* const data)

    // Check that proper shared data has been passed

          "Invalid argument: the shared data should be derived from "

          "DataCollectorJoint");

    }

  boost::shared_ptr<JointDataAbstractTpl<Scalar> > joint;  //!< Joint data

  using Base::r;

  using Base::Ru;

  using Base::Rx;

  using Base::shared;

};

}  // namespace crocoddyl

/* --- Details -------------------------------------------------------------- */

/* --- Details -------------------------------------------------------------- */

/* --- Details -------------------------------------------------------------- */

#include "crocoddyl/core/residuals/joint-acceleration.hxx"

#endif  // CROCODDYL_CORE_RESIDUALS_JOINT_ACCELERATION_HPP_