// This example shows the usage of intermediate waypoints. It will only work with Ruckig Pro or enabled cloud API.

#include <iostream>

#include <ruckig/ruckig.hpp>


using namespace ruckig;

int main() {
    const double control_cycle = 0.01;
    const size_t DOFs = 3;
    const size_t max_number_of_waypoints = 10;  // for memory allocation

    // Create instances: the Ruckig OTG as well as input and output parameters
    Ruckig<DOFs> otg(control_cycle, max_number_of_waypoints);
    InputParameter<DOFs> input;
    OutputParameter<DOFs> output(max_number_of_waypoints);

    // Set input parameters
    input.current_position = {0.2, 0.0, -0.3};
    input.current_velocity = {0.0, 0.2, 0.0};
    input.current_acceleration = {0.0, 0.6, 0.0};

    input.intermediate_positions = {
        {1.4, -1.6, 1.0},
        {-0.6, -0.5, 0.4},
        {-0.4, -0.35, 0.0},
        {0.8, 1.8, -0.1}
    };

    input.target_position = {0.5, 1.0, 0.0};
    input.target_velocity = {0.2, 0.0, 0.3};
    input.target_acceleration = {0.0, 0.1, -0.1};

    input.max_velocity = {1.0, 2.0, 1.0};
    input.max_acceleration = {3.0, 2.0, 2.0};
    input.max_jerk = {6.0, 10.0, 20.0};

    std::cout << "t | position" << std::endl;
    double calculation_duration = 0.0;
    while (otg.update(input, output) == Result::Working) {
        std::cout << output.time << " | " << join(output.new_position) << std::endl;

        output.pass_to_input(input);

        if (output.new_calculation) {
            calculation_duration = output.calculation_duration;
        }
    }

    std::cout << "Reached target position in " << output.trajectory.get_duration() << " [s]." << std::endl;
    std::cout << "Calculation in " << calculation_duration << " [µs]." << std::endl;
}
