//

// 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_contact_force_equality_hpp__

#define __invdyn_task_contact_force_equality_hpp__

#include "tsid/math/fwd.hpp"

#include "tsid/tasks/task-contact-force.hpp"

#include "tsid/trajectories/trajectory-base.hpp"

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

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

namespace tsid {

namespace tasks {

class TaskContactForceEquality : public TaskContactForce {

 public:

  typedef math::Index Index;

  typedef trajectories::TrajectorySample TrajectorySample;

  typedef math::Vector Vector;

  typedef math::Vector6 Vector6;

  typedef math::Vector3 Vector3;

  typedef math::ConstraintEquality ConstraintEquality;

  typedef pinocchio::SE3 SE3;

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

                           const double dt, contacts::ContactBase& contact);

  int dim() const;

  virtual const std::string& getAssociatedContactName();

  virtual const contacts::ContactBase& getAssociatedContact();

  void setAssociatedContact(contacts::ContactBase& contact);

  // Task expressed as a PID between the reference force and the external one

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

                                ConstRefVector v, Data& data);

  const ConstraintBase& compute(

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

      const std::vector<std::shared_ptr<ContactLevel> >* contacts);

  const ConstraintBase& getConstraint() const;

  void setReference(TrajectorySample& ref);

  const TrajectorySample& getReference() const;

  void setExternalForce(TrajectorySample& f_ext);

  const TrajectorySample& getExternalForce() const;

  const Vector& Kp() const;

  const Vector& Kd() const;

  const Vector& Ki() const;

  const double& getLeakRate() const;

  void Kp(ConstRefVector Kp);

  void Kd(ConstRefVector Kp);

  void Ki(ConstRefVector Ki);

  void setLeakRate(double leak);

 protected:

  // contact associated to the force task

  contacts::ContactBase* m_contact;

  std::string m_contact_name;  // the associated contact name or an empty string

  ConstraintEquality m_constraint;

  TrajectorySample m_ref;   // reference Force 6D to follow

  TrajectorySample m_fext;  // external Force 6D in the same frame than the ref

  Vector m_forceIntegralError;  // Integral error of the PID

  Vector m_Kp;

  Vector m_Kd;

  Vector m_Ki;

  double m_dt;

  double m_leak_rate;

};

}  // namespace tasks

}  // namespace tsid

#endif  // ifndef __invdyn_task_contact_force_equality_hpp__