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

// BSD 3-Clause License

//

// Copyright (C) 2019-2024, LAAS-CNRS, University of Edinburgh

//                          Heriot-Watt University

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

// All rights reserved.

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

#ifndef CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_FORCE_HPP_

#define CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_FORCE_HPP_

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

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

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

#include "crocoddyl/multibody/contacts/contact-1d.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/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 Define a contact force residual function

 *

 * This residual function is defined as

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

 * \f$\boldsymbol{\lambda}, \boldsymbol{\lambda}^*\f$ are the current and

 * reference spatial forces, respectively. The current spatial forces

 * \f$\boldsymbol{\lambda}\in\mathbb{R}^{nc}\f$ is computed by

 * `DifferentialActionModelContactFwdDynamicsTpl` or

 * `ActionModelImpulseFwdDynamicTpl`, with `nc` as the dimension of the contact.

 *

 * Both residual and residual Jacobians are computed analytically, where the

 * force vector \f$\boldsymbol{\lambda}\f$ and its Jacobians

 * \f$\left(\frac{\partial\boldsymbol{\lambda}}{\partial\mathbf{x}},

 * \frac{\partial\boldsymbol{\lambda}}{\partial\mathbf{u}}\right)\f$ 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`, `DataCollectorContactTpl`,

 * `DataCollectorImpulseTpl`

 */

template <typename _Scalar>

class ResidualModelContactForceTpl : public ResidualModelAbstractTpl<_Scalar> {

 public:

  typedef _Scalar Scalar;

  typedef MathBaseTpl<Scalar> MathBase;

  typedef ResidualModelAbstractTpl<Scalar> Base;

  typedef ResidualDataContactForceTpl<Scalar> Data;

  typedef StateMultibodyTpl<Scalar> StateMultibody;

  typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;

  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;

  typedef pinocchio::ForceTpl<Scalar> Force;

  typedef typename MathBase::VectorXs VectorXs;

  typedef typename MathBase::MatrixXs MatrixXs;

  /**

   * @brief Initialize the contact force 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   Multibody state

   * @param[in] id      Reference frame id

   * @param[in] fref    Reference spatial contact force in the contact

   * coordinates

   * @param[in] nc      Dimension of the contact force (nc <= 6)

   * @param[in] nu      Dimension of control vector

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

   * or inverse dynamics (false)

   */

  ResidualModelContactForceTpl(boost::shared_ptr<StateMultibody> state,

                               const pinocchio::FrameIndex id,

                               const Force& fref, const std::size_t nc,

                               const std::size_t nu, const bool fwddyn = true);

  /**

   * @brief Initialize the contact force residual model

   *

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

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

   *

   * @param[in] state  Multibody state

   * @param[in] id     Reference frame id

   * @param[in] fref   Reference spatial contact force in the contact

   * coordinates

   * @param[in] nc     Dimension of the contact force (nc <= 6)

   */

  ResidualModelContactForceTpl(boost::shared_ptr<StateMultibody> state,

                               const pinocchio::FrameIndex id,

                               const Force& fref, const std::size_t nc);

  virtual ~ResidualModelContactForceTpl();

  /**

   * @brief Compute the contact force 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 force 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 derivatives of the contact force 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 force 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 force residual data

   *

   * @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 spatial contact force in the contact

   * coordinates

   */

  const Force& get_reference() const;

  /**

   * @brief Modify the reference frame id

   */

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

             void set_id(const pinocchio::FrameIndex id);)

  /**

   * @brief Modify the reference spatial contact force in the contact

   * coordinates

   */

  void set_reference(const Force& reference);

  /**

   * @brief Print relevant information of the contact-force 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:

  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

  Force fref_;  //!< Reference spatial contact force in the contact coordinates

};

template <typename _Scalar>

struct ResidualDataContactForceTpl : public ResidualDataAbstractTpl<_Scalar> {

  typedef _Scalar Scalar;

  typedef MathBaseTpl<Scalar> MathBase;

  typedef ResidualDataAbstractTpl<Scalar> Base;

  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;

  typedef ContactModelMultipleTpl<Scalar> ContactModelMultiple;

  typedef ImpulseModelMultipleTpl<Scalar> ImpulseModelMultiple;

  typedef pinocchio::ForceTpl<Scalar> Force;

  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 3d contact for " +

              frame_name);

          break;

        }

      }

    } else {

          }

          }

              "Domain error: there isn't defined at least a 3d impulse for " +

              frame_name);

          break;

        }

      }

    }

          "Domain error: there isn't defined contact/impulse data for " +

          frame_name);

    }

  boost::shared_ptr<ForceDataAbstractTpl<Scalar> >

      contact;               //!< Contact force data

  ContactType contact_type;  //!< Type of contact (3D / 6D)

  using Base::r;

  using Base::Ru;

  using Base::Rx;

  using Base::shared;

};

}  // namespace crocoddyl

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

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

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

#include "crocoddyl/multibody/residuals/contact-force.hxx"

#endif  // CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_FORCE_HPP_