//

// 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_joint_bounds_hpp__

#define __invdyn_task_joint_bounds_hpp__

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

#include <tsid/math/constraint-bound.hpp>

namespace tsid {

namespace tasks {

class TaskJointBounds : public TaskMotion {

 public:

  typedef math::Vector Vector;

  typedef math::ConstraintBound ConstraintBound;

  typedef pinocchio::Data Data;

  TaskJointBounds(const std::string& name, RobotWrapper& robot, double dt);

  int dim() const;

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

                                ConstRefVector v, Data& data);

  const ConstraintBase& getConstraint() const;

  void setTimeStep(double dt);

  void setVelocityBounds(ConstRefVector lower, ConstRefVector upper);

  void setAccelerationBounds(ConstRefVector lower, ConstRefVector upper);

  const Vector& getAccelerationLowerBounds() const;

  const Vector& getAccelerationUpperBounds() const;

  const Vector& getVelocityLowerBounds() const;

  const Vector& getVelocityUpperBounds() const;

  virtual void setMask(math::ConstRefVector mask);

 protected:

  Vector m_v_lb, m_v_ub;

  Vector m_a_lb, m_a_ub;

  Vector m_ddq_max_due_to_vel, m_ddq_min_due_to_vel;

  ConstraintBound m_constraint;

  double m_dt;

  int m_nv, m_na;

};

}  // namespace tasks

}  // namespace tsid

#endif  // ifndef __invdyn_task_joint_bounds_hpp__