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

// BSD 3-Clause License

//

// Copyright (C) 2021-2024, LAAS-CNRS, University of Edinburgh,

//                          Heriot-Watt University

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

// All rights reserved.

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

#ifndef CROCODDYL_MULTIBODY_RESIDUALS_MOMENTUM_HPP_

#define CROCODDYL_MULTIBODY_RESIDUALS_MOMENTUM_HPP_

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

#include "crocoddyl/multibody/data/multibody.hpp"

#include "crocoddyl/multibody/fwd.hpp"

#include "crocoddyl/multibody/states/multibody.hpp"

namespace crocoddyl {

/**

 * @brief Centroidal momentum residual

 *

 * This residual function defines the centroidal momentum tracking as

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

 * \f$\mathbf{h},\mathbf{h}^*\in~\mathcal{X}\f$ are the current and reference

 * centroidal momenta, respectively. Note that the dimension of the residual

 * vector is 6. Furthermore, the Jacobians of the residual function 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 ResidualModelCentroidalMomentumTpl

    : public ResidualModelAbstractTpl<_Scalar> {

 public:

  typedef _Scalar Scalar;

  typedef MathBaseTpl<Scalar> MathBase;

  typedef ResidualModelAbstractTpl<Scalar> Base;

  typedef ResidualDataCentroidalMomentumTpl<Scalar> Data;

  typedef StateMultibodyTpl<Scalar> StateMultibody;

  typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;

  typedef ActivationModelAbstractTpl<Scalar> ActivationModelAbstract;

  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;

  typedef typename MathBase::Vector6s Vector6s;

  typedef typename MathBase::VectorXs VectorXs;

  typedef typename MathBase::Matrix6xs Matrix6xs;

  /**

   * @brief Initialize the centroidal momentum residual model

   *

   * @param[in] state  State of the multibody system

   * @param[in] href   Reference centroidal momentum

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

   */

  ResidualModelCentroidalMomentumTpl(boost::shared_ptr<StateMultibody> state,

                                     const Vector6s& href,

                                     const std::size_t nu);

  /**

   * @brief Initialize the centroidal momentum residual model

   *

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

   *

   * @param[in] state  State of the multibody system

   * @param[in] href   Reference centroidal momentum

   */

  ResidualModelCentroidalMomentumTpl(boost::shared_ptr<StateMultibody> state,

                                     const Vector6s& href);

  virtual ~ResidualModelCentroidalMomentumTpl();

  /**

   * @brief Compute the centroidal momentum residual

   *

   * @param[in] data  Centroidal momentum 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 Compute the derivatives of the centroidal momentum residual

   *

   * @param[in] data  Centroidal momentum 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 centroidal momentum residual data

   */

  virtual boost::shared_ptr<ResidualDataAbstract> createData(

      DataCollectorAbstract* const data);

  /**

   * @brief Return the reference centroidal momentum

   */

  const Vector6s& get_reference() const;

  /**

   * @brief Modify the reference centroidal momentum

   */

  void set_reference(const Vector6s& href);

  /**

   * @brief Print relevant information of the centroidal-momentum residual

   *

   * @param[out] os  Output stream object

   */

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

 protected:

  using Base::nu_;

  using Base::state_;

  using Base::u_dependent_;

 private:

  Vector6s href_;  //!< Reference centroidal momentum

  boost::shared_ptr<typename StateMultibody::PinocchioModel>

      pin_model_;  //!< Pinocchio model

};

template <typename _Scalar>

struct ResidualDataCentroidalMomentumTpl

    : public ResidualDataAbstractTpl<_Scalar> {

  typedef _Scalar Scalar;

  typedef MathBaseTpl<Scalar> MathBase;

  typedef ResidualDataAbstractTpl<Scalar> Base;

  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;

  typedef typename MathBase::Matrix6xs Matrix6xs;

  template <template <typename Scalar> class Model>

                                    DataCollectorAbstract* const data)

      : Base(model, data),

    // Check that proper shared data has been passed

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

          "DataCollectorMultibody");

    }

    // Avoids data casting at runtime

  pinocchio::DataTpl<Scalar>* pinocchio;  //!< Pinocchio data

  Matrix6xs dhd_dq;  //!< Jacobian of the centroidal momentum

  Matrix6xs dhd_dv;  //!< Jacobian of the centroidal momentum

  using Base::r;

  using Base::Ru;

  using Base::Rx;

  using Base::shared;

};

}  // namespace crocoddyl

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

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

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

#include "crocoddyl/multibody/residuals/centroidal-momentum.hxx"

#endif  // CROCODDYL_MULTIBODY_RESIDUALS_MOMENTUM_HPP_