//

// Copyright (c) 2017 CNRS

//

// 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 __invdyn_solvers_hqp_eiquadprog_hpp__

#define __invdyn_solvers_hqp_eiquadprog_hpp__

#include "tsid/deprecated.hh"

#include <tsid/solvers/solver-HQP-base.hpp>

namespace tsid {

namespace solvers {

/**

 * @brief Abstract interface for a Quadratic Program (HQP) solver.

 */

class TSID_DLLAPI SolverHQuadProg : public SolverHQPBase {

 public:

  typedef math::Matrix Matrix;

  typedef math::Vector Vector;

  typedef math::RefVector RefVector;

  typedef math::ConstRefVector ConstRefVector;

  typedef math::ConstRefMatrix ConstRefMatrix;

  SolverHQuadProg(const std::string& name);

  void resize(unsigned int n, unsigned int neq, unsigned int nin);

  /** Solve the given Hierarchical Quadratic Program

   */

  const HQPOutput& solve(const HQPData& problemData);

  /** Retrieve the matrices describing a QP problem from the problem data. */

  void retrieveQPData(const HQPData& problemData,

                      const bool hessianRegularization = true);

  /** Return the QP data object. */

  /** Get the objective value of the last solved problem. */

  double getObjectiveValue();

 protected:

  void sendMsg(const std::string& s);

  TSID_DEPRECATED Matrix m_H;

  TSID_DEPRECATED Vector m_g;

  TSID_DEPRECATED Matrix m_CE;

  TSID_DEPRECATED Vector m_ce0;

  TSID_DEPRECATED Matrix m_CI;

  TSID_DEPRECATED Vector m_ci0;

  double m_objValue;

  double m_hessian_regularization;

  Eigen::VectorXi

      m_activeSet;  /// vector containing the indexes of the active inequalities

  tsid::math::Index m_activeSetSize;

#ifdef ELIMINATE_EQUALITY_CONSTRAINTS

  //      Eigen::FullPivLU<Matrix>                        m_CE_dec;

  //	  Eigen::ColPivHouseholderQR<Matrix>              m_CE_dec; // fast, but

  // difficult to retrieve null space basis

  //      Eigen::FullPivHouseholderQR<Matrix>             m_CE_dec; // doc says

  //      it is slow

  Eigen::CompleteOrthogonalDecomposition<Matrix>

      m_CE_dec;  // available from Eigen 3.3.0, 40 us for decomposition, 40 us

                 // to get null space basis, 40 us to project Hessian

  //      Eigen::JacobiSVD<Matrix, Eigen::HouseholderQRPreconditioner> m_CE_dec;

  //      // too slow

  Matrix m_ZT_H_Z;

  Matrix m_CI_Z;

#endif

  unsigned int m_neq;  /// number of equality constraints

  unsigned int m_nin;  /// number of inequality constraints

  unsigned int m_n;    /// number of variables

  QPDataQuadProgTpl<double> m_qpData;

};

}  // namespace solvers

}  // namespace tsid

#endif  // ifndef __invdyn_solvers_hqp_eiquadprog_hpp__