//

// Copyright (c) 2021 University of Trento

//

// This file is part of tsid

// tsid is free software: you can redistribute it

// and/or modify it under the terms of the GNU Lesser General Public

// License as published by the Free Software Foundation, either version

// 3 of the License, or (at your option) any later version.

// tsid is distributed in the hope that it will be

// useful, but WITHOUT ANY WARRANTY; without even the implied warranty

// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU

// General Lesser Public License for more details. You should have

// received a copy of the GNU Lesser General Public License along with

// tsid If not, see

// <http://www.gnu.org/licenses/>.

//

#ifndef __tsid_contact_level_hpp__

#define __tsid_contact_level_hpp__

#include "tsid/math/fwd.hpp"

#include "tsid/contacts/contact-base.hpp"

namespace tsid

{

  /** Data structure collecting information regarding a single contact.

   * In particular, this structure contains the index of the force corresponding

   * to this contact in the force vector used as decision variable in the QP.

   * Moreover it contains all the default constraints associated to a contact for representing

   * the motion constraints (contact points do not move), the friction cone constraints

   * and the force regularization cost.

   */

  {

    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    contacts::ContactBase & contact;

    std::shared_ptr<math::ConstraintBase> motionConstraint;

    std::shared_ptr<math::ConstraintInequality> forceConstraint;

    std::shared_ptr<math::ConstraintEquality> forceRegTask;

    unsigned int index; /// index of 1st element of associated force variable in the force vector

    ContactLevel(contacts::ContactBase & contact);

  };

}

#endif // ifndef __tsid_contact_level_hpp__