/*
 * Copyright (c) 2011-2022, The DART development contributors
 * All rights reserved.
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 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
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 *   without modification, are permitted provided that the following
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 *   * Redistributions of source code must retain the above copyright
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 *     disclaimer in the documentation and/or other materials provided
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 */

#ifndef EXAMPLES_JOINTCONSTRAINTS_CONTROLLER_HPP_
#define EXAMPLES_JOINTCONSTRAINTS_CONTROLLER_HPP_

#include <vector>

#include <Eigen/Dense>
#include <dart/dart.hpp>

class Controller
{
public:
  Controller(
      const dart::dynamics::SkeletonPtr& _skel,
      dart::constraint::ConstraintSolver* _collisionSolver,
      double _t);
  virtual ~Controller() {}

  Eigen::VectorXd getTorques()
  {
    return mTorques;
  }
  double getTorque(int _index)
  {
    return mTorques[_index];
  }
  void setDesiredDof(int _index, double _val)
  {
    mDesiredDofs[_index] = _val;
  }
  void computeTorques(
      const Eigen::VectorXd& _dof, const Eigen::VectorXd& _dofVel);
  dart::dynamics::SkeletonPtr getSkel()
  {
    return mSkel;
  }
  Eigen::VectorXd getDesiredDofs()
  {
    return mDesiredDofs;
  }
  Eigen::MatrixXd getKp()
  {
    return mKp;
  }
  Eigen::MatrixXd getKd()
  {
    return mKd;
  }
  void setConstrForces(const Eigen::VectorXd& _constrForce)
  {
    mConstrForces = _constrForce;
  }

protected:
  bool computeCoP(dart::dynamics::BodyNode* _node, Eigen::Vector3d* _cop);
  Eigen::Vector3d evalLinMomentum(const Eigen::VectorXd& _dofVel);
  Eigen::Vector3d evalAngMomentum(const Eigen::VectorXd& _dofVel);
  Eigen::VectorXd adjustAngMomentum(
      Eigen::VectorXd _deltaMomentum, Eigen::VectorXd _controlledAxis);
  dart::dynamics::SkeletonPtr mSkel;
  dart::constraint::ConstraintSolver* mCollisionHandle;
  Eigen::VectorXd mTorques;
  Eigen::VectorXd mDesiredDofs;
  Eigen::MatrixXd mKp;
  Eigen::MatrixXd mKd;
  int mFrame;
  double mTimestep;
  double mPreOffset;
  Eigen::VectorXd
      mConstrForces; // SPD utilizes the current info about contact forces
};

#endif // EXAMPLES_JOINTCONSTRAINTS_CONTROLLER_HPP_
