/*
 * 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
 *
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 *   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.
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 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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 */

#ifndef EXAMPLES_ATLASSIMBICON_HUMANOID_HPP_
#define EXAMPLES_ATLASSIMBICON_HUMANOID_HPP_

#include <string>
#include <vector>

#include <Eigen/Dense>

#include <dart/dart.hpp>

class State;

//==============================================================================
/// \brief class Humanoid
/// \warning This class is not used now.
class Humanoid
{
public:
  /// \brief Constructor
  Humanoid(dart::dynamics::Skeleton* _skeleton);

  /// \brief Destructor
  virtual ~Humanoid();

  /// \brief Get skeleton
  dart::dynamics::Skeleton* getSkeleton();

  /// \brief Get pelvis
  dart::dynamics::BodyNode* getPelvis();

  /// \brief Get left thigh
  dart::dynamics::BodyNode* getLeftThigh();

  /// \brief Get right thigh
  dart::dynamics::BodyNode* getRightThigh();

  /// \brief Get left foot
  dart::dynamics::BodyNode* getLeftFoot();

  /// \brief Get right foot
  dart::dynamics::BodyNode* getRightFoot();

protected:
  /// \brief State
  dart::dynamics::Skeleton* mSkeleton;

  /// \brief Pelvis
  dart::dynamics::BodyNode* mPelvis;

  /// \brief LeftThigh
  dart::dynamics::BodyNode* mLeftThigh;

  /// \brief LeftThigh
  dart::dynamics::BodyNode* mRightThigh;

  /// \brief Left foot
  dart::dynamics::BodyNode* mLeftFoot;

  /// \brief Right foot
  dart::dynamics::BodyNode* mRightFoot;

  /// \brief Left ankle on sagital plane
  dart::dynamics::Joint* mLeftAnkleSagital;

  /// \brief Left ankle on coronal plane
  dart::dynamics::Joint* mLeftAnkleCoronal;

  /// \brief Right ankle on sagital plane
  dart::dynamics::Joint* mRightAnkleSagital;

  /// \brief Right ankle on coronal plane
  dart::dynamics::Joint* mRightAnkleCoronal;
};

//==============================================================================
/// \brief class AtlasRobot
/// \warning This class is not used now.
class AtlasRobot : public Humanoid
{
public:
  /// \brief Constructor
  AtlasRobot(dart::dynamics::Skeleton* _skeleton);

  /// \brief Destructor
  virtual ~AtlasRobot();

protected:
};

#endif // EXAMPLES_ATLASSIMBICON_HUMANOID_HPP_
