// 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 "jntarray.hpp"

namespace KDL
{
    using namespace Eigen;

    JntArray::JntArray()
    {
    }

    JntArray::JntArray(unsigned int _size):
        data(_size)
    {
        data.setZero();
    }


    JntArray::JntArray(const JntArray& arg):
        data(arg.data)
    {
    }

    JntArray& JntArray::operator = (const JntArray& arg)
    {
        data=arg.data;
        return *this;
    }


    JntArray::~JntArray()
    {
    }

    void JntArray::resize(unsigned int newSize)
    {
        data.conservativeResizeLike(VectorXd::Zero(newSize));
    }

    double JntArray::operator()(unsigned int i,unsigned int j)const
    {
        assert(j==0);
        return data(i);
    }

    double& JntArray::operator()(unsigned int i,unsigned int j)
    {
        assert(j==0);
        return data(i);
    }

    unsigned int JntArray::rows()const
    {
        return data.rows();
    }

    unsigned int JntArray::columns()const
    {
        return data.cols();
    }

    void Add(const JntArray& src1,const JntArray& src2,JntArray& dest)
    {
        dest.data=src1.data+src2.data;
    }

    void Subtract(const JntArray& src1,const JntArray& src2,JntArray& dest)
    {
        dest.data=src1.data-src2.data;
    }

    void Multiply(const JntArray& src,const double& factor,JntArray& dest)
    {
        dest.data=factor*src.data;
    }

    void Divide(const JntArray& src,const double& factor,JntArray& dest)
    {
        dest.data=src.data/factor;
    }

    void MultiplyJacobian(const Jacobian& jac, const JntArray& src, Twist& dest)
    {
        Eigen::Matrix<double,6,1> t=jac.data.lazyProduct(src.data);
        dest=Twist(Vector(t(0),t(1),t(2)),Vector(t(3),t(4),t(5)));
    }
    
    void SetToZero(JntArray& array)
    {
        array.data.setZero();
    }

    bool Equal(const JntArray& src1, const JntArray& src2,double eps)
    {
        if(src1.rows()!=src2.rows())
            return false;
        return src1.data.isApprox(src2.data,eps);
    }

    bool operator==(const JntArray& src1,const JntArray& src2){return Equal(src1,src2);};
    //bool operator!=(const JntArray& src1,const JntArray& src2){return Equal(src1,src2);};

}


