//

// 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_contact_force_hpp__

#define __invdyn_task_contact_force_hpp__

#include <tsid/deprecated.hh>

#include <tsid/tasks/task-base.hpp>

#include <tsid/formulations/contact-level.hpp>

#include <memory>

namespace tsid {

namespace tasks {

class TaskContactForce : public TaskBase {

 public:

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

  /**

   * Contact force tasks have an additional compute method that takes as extra

   * input argument the list of active contacts. This can be needed for force

   * tasks that involve all contacts, such as the CoP task.

   */

  TSID_DISABLE_WARNING_PUSH

  TSID_DISABLE_WARNING(-Woverloaded - virtual)

  virtual const ConstraintBase& compute(

      const double t, ConstRefVector q, ConstRefVector v, Data& data,

      const std::vector<std::shared_ptr<ContactLevel> >* contacts) = 0;

  TSID_DISABLE_WARNING_POP

  /**

   * Return the name of the contact associated to this task if this task is

   * associated to a specific contact. If this task is associated to multiple

   * contact forces (all of them), returns an empty string.

   */

  virtual const std::string& getAssociatedContactName() = 0;

};

}  // namespace tasks

}  // namespace tsid

#endif  // ifndef __invdyn_task_contact_force_hpp__