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

// BSD 3-Clause License

//

// Copyright (C) 2020-2024, University of Duisburg-Essen,

//                         University of Edinburgh, Heriot-Watt University

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

// All rights reserved.

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

#ifndef CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_COP_POSITION_HPP_

#define CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_COP_POSITION_HPP_

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

#include "crocoddyl/core/utils/exception.hpp"

#include "crocoddyl/multibody/contact-base.hpp"

#include "crocoddyl/multibody/contacts/contact-3d.hpp"

#include "crocoddyl/multibody/contacts/contact-6d.hpp"

#include "crocoddyl/multibody/contacts/multiple-contacts.hpp"

#include "crocoddyl/multibody/cop-support.hpp"

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

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

#include "crocoddyl/multibody/fwd.hpp"

#include "crocoddyl/multibody/impulse-base.hpp"

#include "crocoddyl/multibody/impulses/impulse-3d.hpp"

#include "crocoddyl/multibody/impulses/impulse-6d.hpp"

#include "crocoddyl/multibody/impulses/multiple-impulses.hpp"

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

namespace crocoddyl {

/**

 * @brief Center of pressure residual function

 *

 * It builds a residual function that bounds the center of pressure (CoP) for

 * one contact surface to lie inside a certain geometric area defined around the

 * reference contact frame. The residual residual vector is described as

 * \f$\mathbf{r}=\mathbf{A}\boldsymbol{\lambda}\geq\mathbf{0}\f$, where \f[

 *   \mathbf{A}=

 *     \begin{bmatrix} 0 & 0 & X/2 & 0 & -1 & 0 \\ 0 & 0 & X/2 & 0 & 1 & 0 \\ 0

 * & 0 & Y/2 & 1 & 0 & 0 \\ 0 & 0 & Y/2 & -1 & 0 & 0 \end{bmatrix} \f] is the

 * inequality matrix and \f$\boldsymbol{\lambda}\f$ is the reference spatial

 * contact force in the frame coordinate. The CoP lies inside the convex hull of

 * the foot, see eq.(18-19) of

 * https://hal.archives-ouvertes.fr/hal-02108449/document is we have:

 * \f[

 *  \begin{align}\begin{split}\tau^x &\leq

 * Yf^z \\-\tau^x &\leq Yf^z \\\tau^y &\leq Yf^z \\-\tau^y &\leq Yf^z

 *  \end{split}\end{align}

 * \f]

 * with \f$\boldsymbol{\lambda}= \begin{bmatrix}f^x & f^y & f^z & \tau^x &

 * \tau^y & \tau^z \end{bmatrix}^T\f$.

 *

 * The residual is computed, from the residual vector \f$\mathbf{r}\f$, through

 * an user defined activation model. Additionally, the contact frame id, the

 * desired support region for the CoP and the inequality matrix are handled

 * within `CoPSupportTpl`. The force vector \f$\boldsymbol{\lambda}\f$ and its

 * derivatives are computed by `DifferentialActionModelContactFwdDynamicsTpl` or

 * `ActionModelImpulseFwdDynamicTpl`. These values are stored in a shared data

 * (i.e., `DataCollectorContactTpl` or `DataCollectorImpulseTpl`). Note that

 * this residual function cannot be used with other action models.

 *

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

 * `DifferentialActionModelContactFwdDynamicsTpl`,

 * `ActionModelImpulseFwdDynamicTpl`, `DataCollectorForceTpl`

 */

template <typename _Scalar>

class ResidualModelContactCoPPositionTpl

    : public ResidualModelAbstractTpl<_Scalar> {

 public:

  typedef _Scalar Scalar;

  typedef MathBaseTpl<Scalar> MathBase;

  typedef ResidualModelAbstractTpl<Scalar> Base;

  typedef ResidualDataContactCoPPositionTpl<Scalar> Data;

  typedef StateMultibodyTpl<Scalar> StateMultibody;

  typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;

  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;

  typedef CoPSupportTpl<Scalar> CoPSupport;

  typedef typename MathBase::VectorXs VectorXs;

  typedef typename MathBase::MatrixXs MatrixXs;

  typedef typename MathBase::Matrix46s Matrix46;

  /**

   * @brief Initialize the contact CoP residual model

   *

   * Note that for the inverse-dynamic cases, the control vector contains the

   * generalized accelerations, torques, and all the contact forces.

   *

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

   * @param[in] id     Reference frame id

   * @param[in] cref   Reference support region of the CoP

   * @param[in] nu     Dimension of control vector

   * @param[in] fwddyn  Indicates that we have a forward dynamics problem (true)

   * or inverse dynamics (false)

   */

  ResidualModelContactCoPPositionTpl(boost::shared_ptr<StateMultibody> state,

                                     const pinocchio::FrameIndex id,

                                     const CoPSupport& cref,

                                     const std::size_t nu,

                                     const bool fwddyn = true);

  /**

   * @brief Initialize the contact CoP residual model

   *

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

   * that this constructor can be used for forward-dynamics cases only.

   *

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

   * @param[in] id     Reference frame id

   * @param[in] cref   Reference support region of the CoP

   */

  ResidualModelContactCoPPositionTpl(boost::shared_ptr<StateMultibody> state,

                                     const pinocchio::FrameIndex id,

                                     const CoPSupport& cref);

  virtual ~ResidualModelContactCoPPositionTpl();

  /**

   * @brief Compute the contact CoP residual

   *

   * The CoP residual is computed based on the \f$\mathbf{A}\f$ matrix, the

   * force vector is computed by `DifferentialActionModelContactFwdDynamicsTpl`

   * or `ActionModelImpulseFwdDynamicTpl` which is stored in

   * `DataCollectorContactTpl` or `DataCollectorImpulseTpl`.

   *

   * @param[in] data  Contact CoP 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 residual vector for nodes that depends only on the state

   *

   * It updates the residual vector based on the state only (i.e., it ignores

   * the contact forces). This function is used in the terminal nodes of an

   * optimal control problem.

   *

   * @param[in] data  Residual data

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

   */

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

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

  /**

   * @brief Compute the Jacobians of the contact CoP residual

   *

   * The CoP residual is computed based on the \f$\mathbf{A}\f$ matrix, the

   * force vector is computed by `DifferentialActionModelContactFwdDynamicsTpl`

   * or `ActionModelImpulseFwdDynamicTpl` which is stored in

   * `DataCollectorContactTpl` or `DataCollectorImpulseTpl`.

   *

   * @param[in] data  Contact CoP 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 Compute the Jacobian of the residual functions with respect to the

   * state only

   *

   * It updates the Jacobian of the residual function based on the state only

   * (i.e., it ignores the contact forces). This function is used in the

   * terminal nodes of an optimal control problem.

   *

   * @param[in] data  Residual data

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

   */

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

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

  /**

   * @brief Create the contact CoP residual data

   *

   * Each residual model has its own data that needs to be allocated.

   * This function returns the allocated data for a predefined residual.

   *

   * @param[in] data  Shared data (it should be of type

   * `DataCollectorContactTpl`)

   * @return the residual data.

   */

  virtual boost::shared_ptr<ResidualDataAbstract> createData(

      DataCollectorAbstract* const data);

  /**

   * @brief Update the Jacobians of the contact friction cone residual

   *

   * @param[in] data  Contact friction cone residual data

   */

  void updateJacobians(const boost::shared_ptr<ResidualDataAbstract>& data);

  /**

   * @brief Indicates if we are using the forward-dynamics (true) or

   * inverse-dynamics (false)

   */

  bool is_fwddyn() const;

  /**

   * @brief Return the reference frame id

   */

  pinocchio::FrameIndex get_id() const;

  /**

   * @brief Return the reference support region of CoP

   */

  const CoPSupport& get_reference() const;

  /**

   * @brief Modify the reference frame id

   */

  DEPRECATED("Do not use set_id, instead create a new model",

             void set_id(pinocchio::FrameIndex id);)

  /**

   * @brief Modify the reference support region of CoP

   */

  void set_reference(const CoPSupport& reference);

  /**

   * @brief Print relevant information of the cop-position residual

   *

   * @param[out] os  Output stream object

   */

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

 protected:

  using Base::nu_;

  using Base::state_;

 private:

  bool fwddyn_;  //!< Indicates if we are using this function for forward

                 //!< dynamics

  bool update_jacobians_;     //!< Indicates if we need to update the Jacobians

                              //!< (used for inverse dynamics case)

  pinocchio::FrameIndex id_;  //!< Reference frame id

  CoPSupport cref_;           //!< Reference support region of CoP

};

template <typename _Scalar>

struct ResidualDataContactCoPPositionTpl

    : public ResidualDataAbstractTpl<_Scalar> {

  typedef _Scalar Scalar;

  typedef MathBaseTpl<Scalar> MathBase;

  typedef ResidualDataAbstractTpl<Scalar> Base;

  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;

  typedef StateMultibodyTpl<Scalar> StateMultibody;

  typedef typename MathBase::MatrixXs MatrixXs;

  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 "

          "DataCollectorContact or DataCollectorImpulse");

    }

    }

    // Avoids data casting at runtime

        boost::static_pointer_cast<StateMultibody>(model->get_state());

                "Domain error: there isn't defined at least a 6d contact for " +

                frame_name);

            break;

          }

          }

              "Domain error: there isn't defined at least a 6d contact for " +

              frame_name);

          break;

        }

      }

    } else {

                "Domain error: there isn't defined at least a 6d contact for " +

                frame_name);

            break;

          }

          }

              "Domain error: there isn't defined at least a 6d contact for " +

              frame_name);

          break;

        }

      }

    }

                   frame_name);

    }

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

  boost::shared_ptr<ForceDataAbstractTpl<Scalar> > contact;  //!< Contact force

  using Base::r;

  using Base::Ru;

  using Base::Rx;

  using Base::shared;

};

}  // namespace crocoddyl

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

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

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

#include "crocoddyl/multibody/residuals/contact-cop-position.hxx"

#endif  // CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_COP_POSITION_HPP_