// SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
// SPDX-License-Identifier: BSD-3-Clause
/*
 * Originally developed for Prioritized Optimal Control (2014)
 * Refactored in 2018.
 * Design inspired by
 * - ACADO toolbox (http://acado.github.io)
 * - ADRL Control Toolbox (https://adrlab.bitbucket.io/ct/ct_doc/doc/html/index.html)
 */

#ifndef IDYNTREE_OPTIMALCONTROL_OPTIMIZER_H
#define IDYNTREE_OPTIMALCONTROL_OPTIMIZER_H

#include <iDynTree/OptimizationProblem.h>
#include <memory>

namespace iDynTree
{

class VectorDynSize;

namespace optimization
{

/**
 * @warning This class is still in active development, and so API interface can change between
 * iDynTree versions.
 * \ingroup iDynTreeExperimental
 */

class Optimizer
{
protected:
    std::shared_ptr<OptimizationProblem> m_problem;

public:
    Optimizer();

    virtual ~Optimizer();

    virtual bool isAvailable() const = 0; // is the desired interface implemented?

    virtual bool setProblem(std::shared_ptr<OptimizationProblem> problem);

    virtual const std::weak_ptr<OptimizationProblem> problem() const;

    virtual bool solve() = 0; // warm start capabilities should be implemented in the solver
                              // specific interface

    virtual bool getPrimalVariables(VectorDynSize& primalVariables);

    virtual bool getDualVariables(VectorDynSize& constraintsMultipliers,
                                  VectorDynSize& lowerBoundsMultipliers,
                                  VectorDynSize& upperBoundsMultipliers);

    virtual bool getOptimalCost(double& optimalCost);

    virtual bool getOptimalConstraintsValues(VectorDynSize& constraintsValues);

    virtual double minusInfinity();

    virtual double plusInfinity();
};

} // namespace optimization

} // namespace iDynTree

#endif // IDYNTREE_OPTIMALCONTROL_OPTIMIZER_H
