//

// 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_task_am_equality_hpp__

#define __invdyn_task_am_equality_hpp__

#include "tsid/math/fwd.hpp"

#include "tsid/tasks/task-motion.hpp"

#include "tsid/trajectories/trajectory-base.hpp"

#include "tsid/math/constraint-equality.hpp"

#include <pinocchio/multibody/model.hpp>

#include <pinocchio/multibody/data.hpp>

namespace tsid {

namespace tasks {

class TaskAMEquality : public TaskMotion {

 public:

  typedef math::Index Index;

  typedef trajectories::TrajectorySample TrajectorySample;

  typedef math::Vector Vector;

  typedef math::Vector3 Vector3;

  typedef math::ConstraintEquality ConstraintEquality;

  typedef pinocchio::Data::Matrix6x Matrix6x;

  TaskAMEquality(const std::string& name, RobotWrapper& robot);

  int dim() const;

  const ConstraintBase& compute(const double t, ConstRefVector q,

                                ConstRefVector v, Data& data);

  const ConstraintBase& getConstraint() const;

  void setReference(const TrajectorySample& ref);

  const TrajectorySample& getReference() const;

  const Vector3& getDesiredMomentumDerivative() const;

  Vector3 getdMomentum(ConstRefVector dv) const;

  const Vector3& momentum_error() const;

  const Vector3& momentum() const;

  const Vector& momentum_ref() const;

  const Vector& dmomentum_ref() const;

  const Vector3& Kp();

  const Vector3& Kd();

  void Kp(ConstRefVector Kp);

  void Kd(ConstRefVector Kp);

 protected:

  Vector3 m_Kp;

  Vector3 m_Kd;

  Vector3 m_L_error, m_dL_error;

  Vector3 m_dL_des;

  Vector3 m_drift;

  Vector3 m_L, m_dL;

  TrajectorySample m_ref;

  ConstraintEquality m_constraint;

};

}  // namespace tasks

}  // namespace tsid

#endif  // ifndef __invdyn_task_am_equality_hpp__