// Copyright  (C)  2007  Francois Cauwe <francois at cauwe dot org>
// Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>

// Version: 1.0
// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// URL: http://www.orocos.org/kdl

// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.

// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// Lesser General Public License for more details.

// You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

#include "chainfksolvervel_recursive.hpp"

namespace KDL
{
    ChainFkSolverVel_recursive::ChainFkSolverVel_recursive(const Chain& _chain):
        chain(_chain)
    {
    }

    ChainFkSolverVel_recursive::~ChainFkSolverVel_recursive()
    {
    }

    int ChainFkSolverVel_recursive::JntToCart(const JntArrayVel& in,FrameVel& out,int seg_nr)
    {
        unsigned int segmentNr;
        if(seg_nr<0)
            segmentNr=chain.getNrOfSegments();
        else
            segmentNr = seg_nr;

        out=FrameVel::Identity();

        if(!(in.q.rows()==chain.getNrOfJoints()&&in.qdot.rows()==chain.getNrOfJoints()))
            return (error = E_SIZE_MISMATCH);
        else if(segmentNr>chain.getNrOfSegments())
            return (error = E_OUT_OF_RANGE);
        else{
            int j=0;
            for (unsigned int i=0;i<segmentNr;i++) {
                //Calculate new Frame_base_ee
                if(chain.getSegment(i).getJoint().getType()!=Joint::None){
                    out=out*FrameVel(chain.getSegment(i).pose(in.q(j)),
                                     chain.getSegment(i).twist(in.q(j),in.qdot(j)));
                    j++;//Only increase jointnr if the segment has a joint
                }else{
                    out=out*FrameVel(chain.getSegment(i).pose(0.0),
                                     chain.getSegment(i).twist(0.0,0.0));
                }
            }
            return (error = E_NOERROR);
        }
    }

    int ChainFkSolverVel_recursive::JntToCart(const JntArrayVel& in,std::vector<FrameVel>& out,int seg_nr)
    {
        unsigned int segmentNr;
        if(seg_nr<0)
            segmentNr=chain.getNrOfSegments();
        else
            segmentNr = seg_nr;



        if(!(in.q.rows()==chain.getNrOfJoints()&&in.qdot.rows()==chain.getNrOfJoints()))
            return -1;
        else if(segmentNr>chain.getNrOfSegments())
            return -1;
        else if(out.size()!=segmentNr)
            return -1;
        else if(segmentNr == 0)
            return -1;
        else{
            int j=0;
            // Initialization
            if(chain.getSegment(0).getJoint().getType()!=Joint::None){
                out[0] = FrameVel(chain.getSegment(0).pose(in.q(0)),
                                     chain.getSegment(0).twist(in.q(0),in.qdot(0)));
                j++;
            }else
                out[0] = FrameVel(chain.getSegment(0).pose(0.0),
                                     chain.getSegment(0).twist(0.0,0.0));
            
            for (unsigned int i=1;i<segmentNr;i++) {
                //Calculate new Frame_base_ee
                if(chain.getSegment(i).getJoint().getType()!=Joint::None){
                    out[i]=out[i-1]*FrameVel(chain.getSegment(i).pose(in.q(j)),
                                    chain.getSegment(i).twist(in.q(j),in.qdot(j)));
                    j++;//Only increase jointnr if the segment has a joint
                }else{
                    out[i]=out[i-1]*FrameVel(chain.getSegment(i).pose(0.0),
                                     chain.getSegment(i).twist(0.0,0.0));
                }
            }
            return 0;
        }
    }
}
