//

// Copyright (c) 2021 CNRS INRIA LORIA

//

// 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_actuation_equality_hpp__

#define __invdyn_task_actuation_equality_hpp__

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

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

namespace tsid {

namespace tasks {

class TaskActuationEquality : public TaskActuation {

 public:

  typedef math::Index Index;

  typedef math::Vector Vector;

  typedef math::VectorXi VectorXi;

  typedef math::ConstraintEquality ConstraintEquality;

  typedef pinocchio::Data Data;

  TaskActuationEquality(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(math::ConstRefVector ref);

  const Vector& getReference() const;

  void setWeightVector(math::ConstRefVector weights);

  const Vector& getWeightVector() const;

  const Vector& mask() const;

  void mask(const Vector& mask);

 protected:

  Vector m_mask;

  VectorXi m_activeAxes;

  Vector m_ref;

  Vector m_weights;

  ConstraintEquality m_constraint;

};

}  // namespace tasks

}  // namespace tsid

#endif  // ifndef __invdyn_task_actuation_equality_hpp__