//

// 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_base_hpp__

#define __invdyn_task_base_hpp__

#include "tsid/math/fwd.hpp"

#include "tsid/robots/fwd.hpp"

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

#include <pinocchio/multibody/fwd.hpp>

namespace tsid {

namespace tasks {

///

/// \brief Base template of a Task.

/// Each class is defined according to a constant model of a robot.

///

class TaskBase {

 public:

  typedef math::ConstraintBase ConstraintBase;

  typedef math::ConstRefVector ConstRefVector;

  typedef pinocchio::Data Data;

  typedef robots::RobotWrapper RobotWrapper;

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

  const std::string& name() const;

  void name(const std::string& name);

  /// \brief Return the dimension of the task.

  /// \info should be overloaded in the child class.

  virtual int dim() const = 0;

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

                                        ConstRefVector v, Data& data) = 0;

  virtual const ConstraintBase& getConstraint() const = 0;

 protected:

  std::string m_name;

  /// \brief Reference on the robot model.

  RobotWrapper& m_robot;

};

}  // namespace tasks

}  // namespace tsid

#endif  // ifndef __invdyn_task_base_hpp__