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#ifndef EXAMPLES_HUMANJOINTLIMITS_HUMANLEGJOINTLIMITCONSTRAINT_HPP_
#  define EXAMPLES_HUMANJOINTLIMITS_HUMANARMJOINTLIMITCONSTRAINT_HPP_

#  include <dart/dart.hpp>
#  include <tiny_dnn/tiny_dnn.h>

DART_COMMON_MAKE_SHARED_WEAK(HumanArmJointLimitConstraint)

/// HumanArmJointLimitConstraint handles joint position limits on human arm,
/// representing range of motion of shoulder and elbow joints.
class HumanArmJointLimitConstraint : public dart::constraint::ConstraintBase
{
public:
  /// Constructor
  explicit HumanArmJointLimitConstraint(
      dart::dynamics::Joint* shldjoint,
      dart::dynamics::Joint* elbowjoint,
      bool isMirror);

  /// Destructor
  virtual ~HumanArmJointLimitConstraint() = default;

  //----------------------------------------------------------------------------
  // Property settings
  //----------------------------------------------------------------------------

  /// Set global error reduction parameter
  static void setErrorAllowance(double allowance);

  /// Get global error reduction parameter
  static double getErrorAllowance();

  /// Set global error reduction parameter
  static void setErrorReductionParameter(double erp);

  /// Get global error reduction parameter
  static double getErrorReductionParameter();

  /// Set global error reduction parameter
  static void setMaxErrorReductionVelocity(double erv);

  /// Get global error reduction parameter
  static double getMaxErrorReductionVelocity();

  /// Set global constraint force mixing parameter
  static void setConstraintForceMixing(double cfm);

  /// Get global constraint force mixing parameter
  static double getConstraintForceMixing();

  //----------------------------------------------------------------------------
  // Friendship
  //----------------------------------------------------------------------------

  friend class dart::constraint::ConstraintSolver;
  friend class dart::constraint::ConstrainedGroup;

protected:
  //----------------------------------------------------------------------------
  // Constraint virtual functions
  //----------------------------------------------------------------------------

  // Documentation inherited
  void update() override;

  // Documentation inherited
  void getInformation(dart::constraint::ConstraintInfo* lcp) override;

  // Documentation inherited
  void applyUnitImpulse(std::size_t index) override;

  // Documentation inherited
  void getVelocityChange(double* delVel, bool withCfm) override;

  // Documentation inherited
  void excite() override;

  // Documentation inherited
  void unexcite() override;

  // Documentation inherited
  void applyImpulse(double* lambda) override;

  // Documentation inherited
  dart::dynamics::SkeletonPtr getRootSkeleton() const override;

  // Documentation inherited
  bool isActive() const override;

private:
  /// arm joints involved
  dart::dynamics::Joint* mShldJoint;
  dart::dynamics::Joint* mElbowJoint;

  /// arm body nodes involved
  dart::dynamics::BodyNode* mUArmNode;
  dart::dynamics::BodyNode* mLArmNode;

  /// A workaround to have a de facto left-handed euler joint
  /// for right shoulder, so it could share same limits with left shoulder.
  /// left-arm set to false, right-arm set to true.
  bool mIsMirror;

  /// the neural network for calculating limits
  tiny_dnn::network<tiny_dnn::sequential> mNet;

  /// Gradient of the neural net function
  Eigen::Vector4d mJacobian;

  /// Index of applied impulse
  std::size_t mAppliedImpulseIndex;

  std::size_t mLifeTime;

  double mViolation;

  double mNegativeVel;

  double mOldX;

  double mUpperBound;

  double mLowerBound;

  bool mActive;

  /// Global constraint error allowance
  static double mErrorAllowance;

  /// Global constraint error redection parameter in the range of [0, 1]. The
  /// default is 0.01.
  static double mErrorReductionParameter;

  /// Maximum error reduction velocity
  static double mMaxErrorReductionVelocity;

  /// Global constraint force mixing parameter in the range of [1e-9, 1]. The
  /// default is 1e-5
  /// \sa http://www.ode.org/ode-latest-userguide.html#sec_3_8_0
  static double mConstraintForceMixing;
};

#endif // EXAMPLES_HUMANJOINTLIMITS_HUMANLEGJOINTLIMITCONSTRAINT_HPP_
