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

// BSD 3-Clause License

//

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

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

// All rights reserved.

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

#ifndef CROCODDYL_MULTIBODY_RESIDUALS_FRAME_VELOCITY_HPP_

#define CROCODDYL_MULTIBODY_RESIDUALS_FRAME_VELOCITY_HPP_

#include <pinocchio/multibody/fwd.hpp>

#include <pinocchio/spatial/motion.hpp>

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

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

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

#include "crocoddyl/multibody/fwd.hpp"

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

namespace crocoddyl {

/**

 * @brief Frame velocity residual

 *

 * This residual function defines a tracking of frame velocity as

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

 * \f$\mathbf{v},\mathbf{v}^*\in~T_{\mathbf{p}}~\mathbb{SE(3)}\f$ are the

 * current and reference frame velocities, respectively. Note that the tangent

 * vector is described by the frame placement \f$\mathbf{p}\f$, and the

 * dimension of the residual vector is 6. Furthermore, the Jacobians of the

 * residual function are computed analytically.

 *

 * As described in `ResidualModelAbstractTpl`, the residual vector and its

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

 *

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

 */

template <typename _Scalar>

class ResidualModelFrameVelocityTpl : public ResidualModelAbstractTpl<_Scalar> {

 public:

  typedef _Scalar Scalar;

  typedef MathBaseTpl<Scalar> MathBase;

  typedef ResidualModelAbstractTpl<Scalar> Base;

  typedef ResidualDataFrameVelocityTpl<Scalar> Data;

  typedef StateMultibodyTpl<Scalar> StateMultibody;

  typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;

  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;

  typedef pinocchio::MotionTpl<Scalar> Motion;

  typedef typename MathBase::VectorXs VectorXs;

  /**

   * @brief Initialize the frame velocity residual model

   *

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

   * @param[in] id          Reference frame id

   * @param[in] velocity    Reference velocity

   * @param[in] type        Reference type of velocity (WORLD, LOCAL,

   * LOCAL_WORLD_ALIGNED)

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

   */

  ResidualModelFrameVelocityTpl(boost::shared_ptr<StateMultibody> state,

                                const pinocchio::FrameIndex id,

                                const Motion& velocity,

                                const pinocchio::ReferenceFrame type,

                                const std::size_t nu);

  /**

   * @brief Initialize the frame velocity residual model

   *

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

   *

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

   * @param[in] id          Reference frame id

   * @param[in] velocity    Reference velocity

   * @param[in] type        Reference type of velocity (WORLD, LOCAL,

   * LOCAL_WORLD_ALIGNED)

   */

  ResidualModelFrameVelocityTpl(boost::shared_ptr<StateMultibody> state,

                                const pinocchio::FrameIndex id,

                                const Motion& velocity,

                                const pinocchio::ReferenceFrame type);

  virtual ~ResidualModelFrameVelocityTpl();

  /**

   * @brief Compute the frame velocity residual vector

   *

   * @param[in] data  Frame velocity 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 Jacobians of the frame velocity residual

   *

   * @param[in] data  Frame velocity 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 frame velocity residual data

   */

  virtual boost::shared_ptr<ResidualDataAbstract> createData(

      DataCollectorAbstract* const data);

  /**

   * @brief Return the reference frame id

   */

  pinocchio::FrameIndex get_id() const;

  /**

   * @brief Return the reference velocity

   */

  const Motion& get_reference() const;

  /**

   * @brief Return the reference type of velocity

   */

  pinocchio::ReferenceFrame get_type() const;

  /**

   * @brief Modify reference frame id

   */

  void set_id(const pinocchio::FrameIndex id);

  /**

   * @brief Modify reference velocity

   */

  void set_reference(const Motion& velocity);

  /**

   * @brief Modify reference type of velocity

   */

  void set_type(const pinocchio::ReferenceFrame type);

  /**

   * @brief Print relevant information of the frame-velocity residual

   *

   * @param[out] os  Output stream object

   */

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

 protected:

  using Base::nr_;

  using Base::nu_;

  using Base::state_;

  using Base::u_dependent_;

 private:

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

  Motion vref_;                     //!< Reference velocity

  pinocchio::ReferenceFrame type_;  //!< Reference type of velocity

  boost::shared_ptr<typename StateMultibody::PinocchioModel>

      pin_model_;  //!< Pinocchio model

};

template <typename _Scalar>

struct ResidualDataFrameVelocityTpl : 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)

    // 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

  using Base::r;

  using Base::Ru;

  using Base::Rx;

  using Base::shared;

};

}  // namespace crocoddyl

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

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

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

#include "crocoddyl/multibody/residuals/frame-velocity.hxx"

#endif  // CROCODDYL_MULTIBODY_RESIDUALS_FRAME_VELOCITY_HPP_