// Copyright  (C)  2007-2008  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Copyright  (C)  2008  Mikael Mayer
// Copyright  (C)  2008  Julia Jesse

// 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

#ifndef KDLTREEIKSOLVERPOS_NR_JL_HPP
#define KDLTREEIKSOLVERPOS_NR_JL_HPP

#include "treeiksolver.hpp"
#include "treefksolver.hpp"
#include <vector>
#include <string>

namespace KDL {

/**
 * Implementation of a general inverse position kinematics
 * algorithm based on Newton-Raphson iterations to calculate the
 * position transformation from Cartesian to joint space of a general
 * KDL::Tree. Takes joint limits into account.
 *
 * @ingroup KinematicFamily
 */
class TreeIkSolverPos_NR_JL: public TreeIkSolverPos {
public:
    /**
     * Constructor of the solver, it needs the tree, a forward
     * position kinematics solver and an inverse velocity
     * kinematics solver for that tree, and a list of the segments you are interested in.
     *
     * @param tree the tree to calculate the inverse position for
     * @param endpoints the list of endpoints you are interested in.
     * @param q_max the maximum joint positions
     * @param q_min the minimum joint positions
     * @param fksolver a forward position kinematics solver
     * @param iksolver an inverse velocity kinematics solver
     * @param maxiter the maximum Newton-Raphson iterations,
     * default: 100
     * @param eps the precision for the position, used to end the
     * iterations, default: epsilon (defined in kdl.hpp)
     *
     * @return
     */
    TreeIkSolverPos_NR_JL(const Tree& tree, const std::vector<std::string>& endpoints, const JntArray& q_min, const JntArray& q_max, TreeFkSolverPos& fksolver,TreeIkSolverVel& iksolver,unsigned int maxiter=100,double eps=1e-6);
    ~TreeIkSolverPos_NR_JL();

    virtual double CartToJnt(const JntArray& q_init, const Frames& p_in, JntArray& q_out);

private:
    const Tree tree;
    JntArray q_min;
    JntArray q_max;
    TreeIkSolverVel& iksolver;
    TreeFkSolverPos& fksolver;
    JntArray delta_q;
    Frames frames;
    Twists delta_twists;
    std::vector<std::string> endpoints;
    
    unsigned int maxiter;
    double eps;
};

}

#endif