//

// Copyright (c) 2020 CNRS, NYU, MPI Tübingen, PAL Robotics

//

// 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_capture_point_inequality_hpp__

#define __invdyn_task_capture_point_inequality_hpp__

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

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

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

#include <vector>

#include <pinocchio/multibody/model.hpp>

#include <pinocchio/multibody/data.hpp>

namespace tsid {

namespace tasks {

class TaskCapturePointInequality : public TaskMotion {

 public:

  typedef math::Index Index;

  typedef math::Vector Vector;

  typedef math::Matrix Matrix;

  typedef math::Vector3 Vector3;

  typedef math::ConstraintInequality ConstraintInequality;

  typedef pinocchio::Data Data;

  typedef pinocchio::SE3 SE3;

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

                             const double timeStep);

  int dim() const;

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

                                ConstRefVector v, Data& data);

  const ConstraintBase& getConstraint() const;

  Vector getAcceleration(ConstRefVector dv) const;

  const Vector& position() const;

  void setSupportLimitsXAxis(const double x_min, const double x_max);

  void setSupportLimitsYAxis(const double y_min, const double y_max);

  void setSafetyMargin(const double x_margin, const double y_margin);

 protected:

  Vector m_drift_vec;

  Vector3 m_drift;

  Vector m_p_com, m_v_com;

  Vector m_rp_min;

  Vector m_rp_max;

  ConstraintInequality m_constraint;

  Vector m_safety_margin;

  Vector m_support_limits_x;

  Vector m_support_limits_y;

  Eigen::Index m_nv;

  double m_delta_t;

  double m_g;

  double m_w;

  double m_ka;

  int m_dim;

  Vector b_lower;

  Vector b_upper;

};

}  // namespace tasks

}  // namespace tsid

#endif  // ifndef __invdyn_task_capture_point_inequality_hpp__