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#ifndef DART_DYNAMICS_DETAIL_TEMPLATEDJACOBIAN_HPP_
#define DART_DYNAMICS_DETAIL_TEMPLATEDJACOBIAN_HPP_

#include "dart/dynamics/TemplatedJacobianNode.hpp"

namespace dart {
namespace dynamics {

//==============================================================================
template <class NodeType>
math::Jacobian TemplatedJacobianNode<NodeType>::getJacobian(
    const Frame* _inCoordinatesOf) const
{
  if (this == _inCoordinatesOf)
    return static_cast<const NodeType*>(this)->getJacobian();
  else if (_inCoordinatesOf->isWorld())
    return static_cast<const NodeType*>(this)->getWorldJacobian();

  return math::AdRJac(
      getTransform(_inCoordinatesOf),
      static_cast<const NodeType*>(this)->getJacobian());
}

//==============================================================================
template <class NodeType>
math::Jacobian TemplatedJacobianNode<NodeType>::getJacobian(
    const Eigen::Vector3d& _offset) const
{
  math::Jacobian J = static_cast<const NodeType*>(this)->getJacobian();
  J.bottomRows<3>() += J.topRows<3>().colwise().cross(_offset);

  return J;
}

//==============================================================================
template <class NodeType>
math::Jacobian TemplatedJacobianNode<NodeType>::getJacobian(
    const Eigen::Vector3d& _offset, const Frame* _inCoordinatesOf) const
{
  if (this == _inCoordinatesOf)
    return getJacobian(_offset);
  else if (_inCoordinatesOf->isWorld())
    return getWorldJacobian(_offset);

  Eigen::Isometry3d T = getTransform(_inCoordinatesOf);
  T.translation() = -T.linear() * _offset;

  return math::AdTJac(T, static_cast<const NodeType*>(this)->getJacobian());
}

//==============================================================================
template <class NodeType>
math::Jacobian TemplatedJacobianNode<NodeType>::getWorldJacobian(
    const Eigen::Vector3d& _offset) const
{
  math::Jacobian J = static_cast<const NodeType*>(this)->getWorldJacobian();
  J.bottomRows<3>()
      += J.topRows<3>().colwise().cross(getWorldTransform().linear() * _offset);

  return J;
}

//==============================================================================
template <class NodeType>
math::LinearJacobian TemplatedJacobianNode<NodeType>::getLinearJacobian(
    const Frame* _inCoordinatesOf) const
{
  if (this == _inCoordinatesOf)
  {
    const math::Jacobian& J = static_cast<const NodeType*>(this)->getJacobian();

    return J.bottomRows<3>();
  }
  else if (_inCoordinatesOf->isWorld())
  {
    const math::Jacobian& JWorld
        = static_cast<const NodeType*>(this)->getWorldJacobian();

    return JWorld.bottomRows<3>();
  }

  const math::Jacobian& J = static_cast<const NodeType*>(this)->getJacobian();

  return getTransform(_inCoordinatesOf).linear() * J.bottomRows<3>();
}

//==============================================================================
template <class NodeType>
math::LinearJacobian TemplatedJacobianNode<NodeType>::getLinearJacobian(
    const Eigen::Vector3d& _offset, const Frame* _inCoordinatesOf) const
{
  const math::Jacobian& J = static_cast<const NodeType*>(this)->getJacobian();

  math::LinearJacobian JLinear;
  JLinear = J.bottomRows<3>() + J.topRows<3>().colwise().cross(_offset);

  if (this == _inCoordinatesOf)
    return JLinear;

  return getTransform(_inCoordinatesOf).linear() * JLinear;
}

//==============================================================================
template <class NodeType>
math::AngularJacobian TemplatedJacobianNode<NodeType>::getAngularJacobian(
    const Frame* _inCoordinatesOf) const
{
  if (this == _inCoordinatesOf)
  {
    const math::Jacobian& J = static_cast<const NodeType*>(this)->getJacobian();
    return J.topRows<3>();
  }
  else if (_inCoordinatesOf->isWorld())
  {
    const math::Jacobian& JWorld
        = static_cast<const NodeType*>(this)->getWorldJacobian();
    return JWorld.topRows<3>();
  }

  const math::Jacobian& J = static_cast<const NodeType*>(this)->getJacobian();

  return getTransform(_inCoordinatesOf).linear() * J.topRows<3>();
}

//==============================================================================
template <class NodeType>
math::Jacobian TemplatedJacobianNode<NodeType>::getJacobianSpatialDeriv(
    const Frame* _inCoordinatesOf) const
{
  if (this == _inCoordinatesOf)
    return static_cast<const NodeType*>(this)->getJacobianSpatialDeriv();

  return math::AdRJac(
      getTransform(_inCoordinatesOf),
      static_cast<const NodeType*>(this)->getJacobianSpatialDeriv());
}

//==============================================================================
template <class NodeType>
math::Jacobian TemplatedJacobianNode<NodeType>::getJacobianSpatialDeriv(
    const Eigen::Vector3d& _offset) const
{
  math::Jacobian J_d
      = static_cast<const NodeType*>(this)->getJacobianSpatialDeriv();

  J_d.bottomRows<3>() += J_d.topRows<3>().colwise().cross(_offset);

  return J_d;
}

//==============================================================================
template <class NodeType>
math::Jacobian TemplatedJacobianNode<NodeType>::getJacobianSpatialDeriv(
    const Eigen::Vector3d& _offset, const Frame* _inCoordinatesOf) const
{
  if (this == _inCoordinatesOf)
    return getJacobianSpatialDeriv(_offset);

  Eigen::Isometry3d T = getTransform(_inCoordinatesOf);
  T.translation() = T.linear() * -_offset;

  return math::AdTJac(
      T, static_cast<const NodeType*>(this)->getJacobianSpatialDeriv());
}

//==============================================================================
template <class NodeType>
math::Jacobian TemplatedJacobianNode<NodeType>::getJacobianClassicDeriv(
    const Frame* _inCoordinatesOf) const
{
  if (_inCoordinatesOf->isWorld())
    return static_cast<const NodeType*>(this)->getJacobianClassicDeriv();

  return math::AdRInvJac(
      _inCoordinatesOf->getWorldTransform(),
      static_cast<const NodeType*>(this)->getJacobianClassicDeriv());
}

//==============================================================================
template <class NodeType>
math::Jacobian TemplatedJacobianNode<NodeType>::getJacobianClassicDeriv(
    const Eigen::Vector3d& _offset, const Frame* _inCoordinatesOf) const
{
  math::Jacobian J_d
      = static_cast<const NodeType*>(this)->getJacobianClassicDeriv();

  const math::Jacobian& J
      = static_cast<const NodeType*>(this)->getWorldJacobian();

  const Eigen::Vector3d& w = getAngularVelocity();
  const Eigen::Vector3d& p = (getWorldTransform().linear() * _offset).eval();

  J_d.bottomRows<3>() += J_d.topRows<3>().colwise().cross(p)
                         + J.topRows<3>().colwise().cross(w.cross(p));

  if (_inCoordinatesOf->isWorld())
    return J_d;

  return math::AdRInvJac(_inCoordinatesOf->getWorldTransform(), J_d);
}

//==============================================================================
template <class NodeType>
math::LinearJacobian TemplatedJacobianNode<NodeType>::getLinearJacobianDeriv(
    const Frame* _inCoordinatesOf) const
{
  const math::Jacobian& J_d
      = static_cast<const NodeType*>(this)->getJacobianClassicDeriv();

  if (_inCoordinatesOf->isWorld())
    return J_d.bottomRows<3>();

  return _inCoordinatesOf->getWorldTransform().linear().transpose()
         * J_d.bottomRows<3>();
}

//==============================================================================
template <class NodeType>
math::LinearJacobian TemplatedJacobianNode<NodeType>::getLinearJacobianDeriv(
    const Eigen::Vector3d& _offset, const Frame* _inCoordinatesOf) const
{
  const math::Jacobian& J_d
      = static_cast<const NodeType*>(this)->getJacobianClassicDeriv();

  const math::Jacobian& J
      = static_cast<const NodeType*>(this)->getWorldJacobian();

  const Eigen::Vector3d& w = getAngularVelocity();
  const Eigen::Vector3d& p = (getWorldTransform().linear() * _offset).eval();

  if (_inCoordinatesOf->isWorld())
    return J_d.bottomRows<3>() + J_d.topRows<3>().colwise().cross(p)
           + J.topRows<3>().colwise().cross(w.cross(p));

  return _inCoordinatesOf->getWorldTransform().linear().transpose()
         * (J_d.bottomRows<3>() + J_d.topRows<3>().colwise().cross(p)
            + J.topRows<3>().colwise().cross(w.cross(p)));
}

//==============================================================================
template <class NodeType>
math::AngularJacobian TemplatedJacobianNode<NodeType>::getAngularJacobianDeriv(
    const Frame* _inCoordinatesOf) const
{
  const math::Jacobian& J_d
      = static_cast<const NodeType*>(this)->getJacobianClassicDeriv();

  if (_inCoordinatesOf->isWorld())
    return J_d.topRows<3>();

  return _inCoordinatesOf->getWorldTransform().linear().transpose()
         * J_d.topRows<3>();
}

//==============================================================================
template <class NodeType>
TemplatedJacobianNode<NodeType>::TemplatedJacobianNode(BodyNode* bn)
  : Entity(Entity::ConstructAbstract),
    Frame(Frame::ConstructAbstract),
    JacobianNode(bn)
{
  // Do nothing
}

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_DETAIL_TEMPLATEDJACOBIAN_HPP_
