//

// Copyright (c) 2023 MIPT

//

// 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_contact_two_frame_positions_hpp__

#define __invdyn_contact_two_frame_positions_hpp__

#include "tsid/contacts/contact-base.hpp"

#include "tsid/tasks/task-se3-equality.hpp"

#include "tsid/tasks/task-two-frames-equality.hpp"

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

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

namespace tsid {

namespace contacts {

class ContactTwoFramePositions : public ContactBase {

 public:

  typedef math::ConstRefMatrix ConstRefMatrix;

  typedef math::ConstRefVector ConstRefVector;

  typedef math::Matrix3x Matrix3x;

  typedef math::Vector6 Vector6;

  typedef math::Vector3 Vector3;

  typedef math::Vector Vector;

  typedef tasks::TaskTwoFramesEquality TaskTwoFramesEquality;

  typedef tasks::TaskSE3Equality TaskSE3Equality;

  typedef math::ConstraintInequality ConstraintInequality;

  typedef math::ConstraintEquality ConstraintEquality;

  typedef pinocchio::SE3 SE3;

  ContactTwoFramePositions(const std::string& name, RobotWrapper& robot,

                           const std::string& frameName1,

                           const std::string& frameName2,

                           const double minNormalForce,

                           const double maxNormalForce);

  /// Return the number of motion constraints

  virtual unsigned int n_motion() const;

  /// Return the number of force variables

  virtual unsigned int n_force() const;

  virtual const ConstraintBase& computeMotionTask(const double t,

                                                  ConstRefVector q,

                                                  ConstRefVector v, Data& data);

  virtual const ConstraintInequality& computeForceTask(const double t,

                                                       ConstRefVector q,

                                                       ConstRefVector v,

                                                       const Data& data);

  virtual const Matrix& getForceGeneratorMatrix();

  virtual const ConstraintEquality& computeForceRegularizationTask(

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

  const TaskTwoFramesEquality& getMotionTask() const;

  const ConstraintBase& getMotionConstraint() const;

  const ConstraintInequality& getForceConstraint() const;

  const ConstraintEquality& getForceRegularizationTask() const;

  double getMotionTaskWeight() const;

  const Matrix3x& getContactPoints() const;

  double getNormalForce(ConstRefVector f) const;

  double getMinNormalForce() const;

  double getMaxNormalForce() const;

  const Vector&

  Kp();  // cannot be const because it set a member variable inside

  const Vector&

  Kd();  // cannot be const because it set a member variable inside

  void Kp(ConstRefVector Kp);

  void Kd(ConstRefVector Kp);

  bool setContactNormal(ConstRefVector contactNormal);

  bool setFrictionCoefficient(const double frictionCoefficient);

  bool setMinNormalForce(const double minNormalForce);

  bool setMaxNormalForce(const double maxNormalForce);

  bool setMotionTaskWeight(const double w);

  void setForceReference(ConstRefVector& f_ref);

  void setRegularizationTaskWeightVector(ConstRefVector& w);

 protected:

  void updateForceInequalityConstraints();

  void updateForceRegularizationTask();

  void updateForceGeneratorMatrix();

  TaskTwoFramesEquality m_motionTask;

  ConstraintInequality m_forceInequality;

  ConstraintEquality m_forceRegTask;

  Vector3 m_fRef;

  Vector3 m_weightForceRegTask;

  Matrix3x m_contactPoints;

  Vector m_Kp3, m_Kd3;  // gain vectors to be returned by reference

  double m_fMin;

  double m_fMax;

  double m_regularizationTaskWeight;

  double m_motionTaskWeight;

  Matrix m_forceGenMat;

};

}  // namespace contacts

}  // namespace tsid

#endif  // ifndef __invdyn_contact_two_frame_positions_hpp__