//

// 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 __invdyn_task_cop_equality_hpp__

#define __invdyn_task_cop_equality_hpp__

#include "tsid/math/fwd.hpp"

#include "tsid/tasks/task-contact-force.hpp"

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

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

#include "tsid/formulations/inverse-dynamics-formulation-base.hpp"

namespace tsid {

namespace tasks {

class TaskCopEquality : public TaskContactForce {

 public:

  typedef math::Index Index;

  typedef trajectories::TrajectorySample TrajectorySample;

  typedef math::Vector Vector;

  typedef math::Vector3 Vector3;

  typedef math::ConstraintEquality ConstraintEquality;

  typedef pinocchio::SE3 SE3;

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

  void setContactList(

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

  int dim() const;

  virtual const std::string &getAssociatedContactName();

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

                                ConstRefVector v, Data &data);

  const ConstraintBase &compute(

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

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

  const ConstraintBase &getConstraint() const;

  void setReference(const Vector3 &ref);

  const Vector3 &getReference() const;

  void setContactNormal(const Vector3 &n);

  const Vector3 &getContactNormal() const;

 protected:

  const std::vector<std::shared_ptr<ContactLevel> > *m_contacts;

  std::string m_contact_name;  // an empty string

  Vector3 m_normal;  // normal direction to the ground expressed in world frame

  Vector3 m_ref;     // reference CoP in world frame

  ConstraintEquality m_constraint;

};

}  // namespace tasks

}  // namespace tsid

#endif  // ifndef __invdyn_task_com_equality_hpp__