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#ifndef DART_DYNAMICS_EULERJOINT_HPP_
#define DART_DYNAMICS_EULERJOINT_HPP_

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

namespace dart {
namespace dynamics {

/// class EulerJoint
class EulerJoint : public detail::EulerJointBase
{
public:
  friend class Skeleton;
  using AxisOrder = detail::AxisOrder;
  using UniqueProperties = detail::EulerJointUniqueProperties;
  using Properties = detail::EulerJointProperties;
  using Base = detail::EulerJointBase;

  DART_BAKE_SPECIALIZED_ASPECT_IRREGULAR(Aspect, EulerJointAspect)

  EulerJoint(const EulerJoint&) = delete;

  /// Destructor
  virtual ~EulerJoint();

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

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

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

  /// Get the Properties of this EulerJoint
  Properties getEulerJointProperties() const;

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

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

  /// Same as copy(const EulerJoint&)
  EulerJoint& operator=(const EulerJoint& _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;

  /// Set the axis order
  /// \param[in] _order Axis order
  /// \param[in] _renameDofs If true, the names of dofs in this joint will be
  /// renmaed according to the axis order.
  void setAxisOrder(AxisOrder _order, bool _renameDofs = true);

  /// Return the axis order
  AxisOrder getAxisOrder() const;

  /// Convert a rotation into a 3D vector that can be used to set the positions
  /// of an EulerJoint with the specified AxisOrder. The positions returned by
  /// this function will result in a relative transform of
  /// getTransformFromParentBodyNode() * _rotation *
  /// getTransformFromChildBodyNode().inverse() between the parent BodyNode and
  /// the child BodyNode frames when applied to an EulerJoint with the correct
  /// axis ordering.
  template <typename RotationType>
  static Eigen::Vector3d convertToPositions(
      const RotationType& _rotation, AxisOrder _ordering)
  {
    switch (_ordering)
    {
      case AxisOrder::XYZ:
        return math::matrixToEulerXYZ(_rotation);
      case AxisOrder::ZYX:
        return math::matrixToEulerZYX(_rotation);
      default:
        dtwarn << "[EulerJoint::convertToPositions] Unsupported AxisOrder ("
               << static_cast<int>(_ordering) << "), returning a zero vector\n";
        return Eigen::Vector3d::Zero();
    }
  }

  /// This is a version of EulerJoint::convertToPositions(const RotationType&,
  /// AxisOrder) which will use the AxisOrder belonging to the joint instance
  /// that it gets called on.
  template <typename RotationType>
  Eigen::Vector3d convertToPositions(const RotationType& _rotation) const
  {
    return convertToPositions(_rotation, getAxisOrder());
  }

  /// Convert a set of Euler angle positions into a transform
  static Eigen::Isometry3d convertToTransform(
      const Eigen::Vector3d& _positions, AxisOrder _ordering);

  /// This is a version of EulerJoint::convertToRotation(const Eigen::Vector3d&,
  /// AxisOrder) which will use the AxisOrder belonging to the joint instance
  /// that it gets called on.
  Eigen::Isometry3d convertToTransform(const Eigen::Vector3d& _positions) const;

  /// Convert a set of Euler angle positions into a rotation matrix
  static Eigen::Matrix3d convertToRotation(
      const Eigen::Vector3d& _positions, AxisOrder _ordering);

  Eigen::Matrix3d convertToRotation(const Eigen::Vector3d& _positions) const;

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

protected:
  /// Constructor called by Skeleton class
  EulerJoint(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 axis order 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_EULERJOINT_HPP_
