/*
 * Copyright (c) 2011-2019, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
 *
 * This file is provided under the following "BSD-style" License:
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
 *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *   POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef DART_DYNAMICS_PLANARRJOINT_HPP_
#define DART_DYNAMICS_PLANARRJOINT_HPP_

#include "dart/dynamics/detail/PlanarJointAspect.hpp"

namespace dart {
namespace dynamics {

/// PlanarJoint represents a 3-dof joint, which has two orthogonal translational
/// axes and one rotational axis.
///
/// First and second coordiantes represent translation along first and second
/// translational axes, respectively. Third coordinate represents rotation
/// along rotational axis.
class PlanarJoint : public detail::PlanarJointBase
{
public:
  friend class Skeleton;
  using PlaneType = detail::PlaneType;
  using UniqueProperties = detail::PlanarJointUniqueProperties;
  using Properties = detail::PlanarJointProperties;
  using Base = GenericJoint<math::R3Space>;

  DART_BAKE_SPECIALIZED_ASPECT_IRREGULAR(Aspect, PlanarJointAspect)

  PlanarJoint(const PlanarJoint&) = delete;

  /// Destructor
  virtual ~PlanarJoint();

  /// Set the Properties of this PlanarJoint
  void setProperties(const Properties& _properties);

  /// Set the Properties of this PlanarJoint
  void setProperties(const UniqueProperties& _properties);

  /// Set the AspectProperties of this PlanarJoint
  void setAspectProperties(const AspectProperties& properties);

  /// Get the Properties of this PlanarJoint
  Properties getPlanarJointProperties() const;

  /// Copy the Properties of another PlanarJoint
  void copy(const PlanarJoint& _otherJoint);

  /// Copy the Properties of another PlanarJoint
  void copy(const PlanarJoint* _otherJoint);

  /// Same as copy(const PlanarJoint&)
  PlanarJoint& operator=(const PlanarJoint& _otherJoint);

  // Documentation inherited
  const std::string& getType() const override;

  /// Get joint type for this class
  static const std::string& getStaticType();

  // Documentation inherited
  bool isCyclic(std::size_t _index) const override;

  /// \brief Set plane type as XY-plane
  /// \param[in] _renameDofs If true, the names of dofs in this joint will be
  /// renmaed according to the plane type.
  void setXYPlane(bool _renameDofs = true);

  /// \brief Set plane type as YZ-plane
  /// \param[in] _renameDofs If true, the names of dofs in this joint will be
  /// renmaed according to the plane type.
  void setYZPlane(bool _renameDofs = true);

  /// \brief Set plane type as ZX-plane
  /// \param[in] _renameDofs If true, the names of dofs in this joint will be
  /// renmaed according to the plane type.
  void setZXPlane(bool _renameDofs = true);

  /// \brief Set plane type as arbitrary plane with two orthogonal translational
  /// axes
  /// \param[in] _transAxis1 An orthogonal translational axis
  /// \param[in] _transAxis2 Another orthogonal translation axis
  /// \param[in] _renameDofs If true, the names of dofs in this joint will be
  /// renmaed according to the plane type.
  void setArbitraryPlane(
      const Eigen::Vector3d& _transAxis1,
      const Eigen::Vector3d& _transAxis2,
      bool _renameDofs = true);

  /// Return plane type
  PlaneType getPlaneType() const;

  /// Return rotational axis
  const Eigen::Vector3d& getRotationalAxis() const;

  /// Return first translational axis
  const Eigen::Vector3d& getTranslationalAxis1() const;

  /// Return second translational axis
  const Eigen::Vector3d& getTranslationalAxis2() const;

  // Documentation inherited
  Eigen::Matrix<double, 6, 3> getRelativeJacobianStatic(
      const Eigen::Vector3d& _positions) const override;

protected:
  /// Constructor called by Skeleton class
  PlanarJoint(const Properties& properties);

  // Documentation inherited
  Joint* clone() const override;

  using Base::getRelativeJacobianStatic;

  /// Set the names of this joint's DegreesOfFreedom. Used during construction
  /// and when the Plane type is changed.
  void updateDegreeOfFreedomNames() override;

  // Documentation inherited
  void updateRelativeTransform() const override;

  // Documentation inherited
  void updateRelativeJacobian(bool = true) const override;

  // Documentation inherited
  void updateRelativeJacobianTimeDeriv() const override;
};

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_PLANARRJOINT_HPP_
