/*
 * Copyright (c) 2011-2019, The DART development contributors
 * All rights reserved.
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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
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
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 *     disclaimer in the documentation and/or other materials provided
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// Algorithm details and publications: http://www.golems.org/node/1570

#ifndef DART_PLANNING_PATHFOLLOWINGTRAJECTORY_HPP_
#define DART_PLANNING_PATHFOLLOWINGTRAJECTORY_HPP_

#include <Eigen/Core>
#include "dart/planning/Path.hpp"
#include "dart/planning/Trajectory.hpp"

namespace dart {
namespace planning {

class PathFollowingTrajectory : public Trajectory
{
public:
  PathFollowingTrajectory(
      const Path& path,
      const Eigen::VectorXd& maxVelocity,
      const Eigen::VectorXd& maxAcceleration);
  ~PathFollowingTrajectory(void);

  bool isValid() const;
  double getDuration() const;
  Eigen::VectorXd getPosition(double time) const;
  Eigen::VectorXd getVelocity(double time) const;
  double getMaxAccelerationError();

private:
  struct TrajectoryStep
  {
    TrajectoryStep()
    {
    }
    TrajectoryStep(double pathPos, double pathVel)
      : pathPos(pathPos), pathVel(pathVel), time(0.0)
    {
    }
    double pathPos;
    double pathVel;
    double time;
  };

  bool getNextSwitchingPoint(
      double pathPos,
      TrajectoryStep& nextSwitchingPoint,
      double& beforeAcceleration,
      double& afterAcceleration);
  bool getNextAccelerationSwitchingPoint(
      double pathPos,
      TrajectoryStep& nextSwitchingPoint,
      double& beforeAcceleration,
      double& afterAcceleration);
  bool getNextVelocitySwitchingPoint(
      double pathPos,
      TrajectoryStep& nextSwitchingPoint,
      double& beforeAcceleration,
      double& afterAcceleration);
  bool integrateForward(
      std::list<TrajectoryStep>& trajectory, double acceleration);
  void integrateBackward(
      std::list<TrajectoryStep>& trajectory,
      std::list<TrajectoryStep>& startTrajectory,
      double acceleration);
  double getMinMaxPathAcceleration(
      double pathPosition, double pathVelocity, bool max);
  double getMinMaxPhaseSlope(
      double pathPosition, double pathVelocity, bool max);
  double getAccelerationMaxPathVelocity(double pathPos);
  double getVelocityMaxPathVelocity(double pathPos);
  double getAccelerationMaxPathVelocityDeriv(double pathPos);
  double getVelocityMaxPathVelocityDeriv(double pathPos);

  TrajectoryStep getIntersection(
      const std::list<TrajectoryStep>& trajectory,
      std::list<TrajectoryStep>::iterator& it,
      const TrajectoryStep& linePoint1,
      const TrajectoryStep& linePoint2);
  inline double getSlope(
      const TrajectoryStep& point1, const TrajectoryStep& point2);
  inline double getSlope(std::list<TrajectoryStep>::const_iterator lineEnd);

  std::list<TrajectoryStep>::const_iterator getTrajectorySegment(
      double time) const;

  Path path;
  Eigen::VectorXd maxVelocity;
  Eigen::VectorXd maxAcceleration;
  unsigned int n;
  bool valid;
  std::list<TrajectoryStep> trajectory;

  static const double eps;
  static const double timeStep;

  mutable double cachedTime;
  mutable std::list<TrajectoryStep>::const_iterator cachedTrajectorySegment;
};

} // namespace planning
} // namespace dart

#endif // DART_PLANNING_PATHFOLLOWINGTRAJECTORY_HPP_
