// Copyright (c) 2017 Franka Emika GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#pragma once

#include <array>

#include <Eigen/Core>
#include <Eigen/Dense>
#include <franka/control_types.h>
#include <franka/duration.h>
#include <franka/robot.h>
#include <franka/robot_state.h>

/**
 * @file examples_common.h
 * Contains common types and functions for the examples.
 */

/**
 * Sets a default collision behavior, joint impedance and Cartesian impedance.
 *
 * @param[in] robot Robot instance to set behavior on.
 */
void setDefaultBehavior(franka::Robot& robot);

/**
 * An example showing how to generate a joint pose motion to a goal position. Adapted from:
 * Wisama Khalil and Etienne Dombre. 2002. Modeling, Identification and Control of Robots
 * (Kogan Page Science Paper edition).
 */
class MotionGenerator {
public:
    /**
   * Creates a new MotionGenerator instance for a target q.
   *
   * @param[in] speed_factor General speed factor in range [0, 1].
   * @param[in] q_goal Target joint positions.
   */
    MotionGenerator(const double &speed_factor, const Eigen::VectorXd &q_goal);

    /**
   * Sends joint position calculations
   *
   * @param[in] robot_state Current state of the robot.
   * @param[in] period Duration of execution.
   *
   * @return Joint positions for use inside a control loop.
   */
    franka::JointPositions operator()(const franka::RobotState& robot_state, franka::Duration period);

private:
    using Vector7d = Eigen::Matrix<double, 7, 1, Eigen::ColMajor>;
    using Vector7i = Eigen::Matrix<int, 7, 1, Eigen::ColMajor>;

    void _check_vector_size(const Eigen::VectorXd &q);

    bool calculateDesiredValues(double t, Vector7d* delta_q_d) const;
    void calculateSynchronizedValues();

    static constexpr double kDeltaQMotionFinished = 1e-3; //1e-6;
    Vector7d q_goal_;

    Vector7d q_start_;
    Vector7d delta_q_;

    Vector7d dq_max_sync_;
    Vector7d t_1_sync_;
    Vector7d t_2_sync_;
    Vector7d t_f_sync_;
    Vector7d q_1_;

    double time_ = 0.0;

    Vector7d dq_max_ = (Vector7d() << 2.0, 2.0, 2.0, 2.0, 2.5, 2.5, 2.5).finished();
    Vector7d ddq_max_start_ = (Vector7d() << 5, 5, 5, 5, 5, 5, 5).finished();
    Vector7d ddq_max_goal_ = (Vector7d() << 5, 5, 5, 5, 5, 5, 5).finished();
};