//

// 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_posture_hpp__

#define __invdyn_task_joint_posture_hpp__

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

#include <tsid/trajectories/trajectory-base.hpp>

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

#include <tsid/deprecated.hh>

namespace tsid {

namespace tasks {

class TaskJointPosture : public TaskMotion {

 public:

  typedef math::Index Index;

  typedef trajectories::TrajectorySample TrajectorySample;

  typedef math::Vector Vector;

  typedef math::VectorXi VectorXi;

  typedef math::ConstraintEquality ConstraintEquality;

  typedef pinocchio::Data Data;

  TaskJointPosture(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 Vector& getDesiredAcceleration() const;

  Vector getAcceleration(ConstRefVector dv) const;

  TSID_DEPRECATED const Vector& mask() const;     // deprecated

  TSID_DEPRECATED void mask(const Vector& mask);  // deprecated

  virtual void setMask(math::ConstRefVector mask);

  const Vector& position_error() const;

  const Vector& velocity_error() const;

  const Vector& position() const;

  const Vector& velocity() const;

  const Vector& position_ref() const;

  const Vector& velocity_ref() const;

  const Vector& Kp();

  const Vector& Kd();

  void Kp(ConstRefVector Kp);

  void Kd(ConstRefVector Kp);

 protected:

  Vector m_Kp;

  Vector m_Kd;

  Vector m_p_error, m_v_error;

  Vector m_p, m_v;

  Vector m_a_des;

  VectorXi m_activeAxes;

  TrajectorySample m_ref;

  Vector m_ref_q_augmented;

  ConstraintEquality m_constraint;

};

}  // namespace tasks

}  // namespace tsid

#endif  // ifndef __invdyn_task_joint_posture_hpp__