#include "balance.h"
#include "stdint.h"
#include "arm_math.h"

/**
 * @brief 根据状态反馈计算当前腿长,查表获得LQR的反馈增益,并列式计算LQR的输出
 * @note 得到的腿部力矩输出还要经过综合运动控制系统补偿后映射为两个关节电机输出
 *
 */
static void CalcLQR(LinkNPodParam *p, ChassisParam *chassis)
{
    float k[12][3] = {155.616146,-200.327241,-0.278791,
                        -12.564474,-24.018026,0.674594,
                        145.503085,-87.742553,-5.916048,
                        97.588867,-70.361944,-4.007305,
                        303.894243,-240.356086,68.074439,
                        18.743007,-15.738160,4.718314,
                        -170.799127,75.225969,18.998160,
                        -29.312006,20.892957,1.529644,
                        122.553208,-114.023608,38.147691,
                        63.561616,-64.916409,25.861226,
                        -657.233777,402.487049,66.281303,
                        -40.107302,25.117848,1.705173};
    float T[2] = {0};       // 0 T_wheel  1 T_hip
    float l = p->leg_len;
    float lsqr = l * l;

    for (uint8_t i = 0; i < 2; ++i)
    {
        uint8_t j = i * 6;
        T[i] = (k[j + 0][0] * lsqr + k[j + 0][1] * l + k[j + 0][2]) * -p->theta +
               (k[j + 1][0] * lsqr + k[j + 1][1] * l + k[j + 1][2]) * -p->theta_w +
               (k[j + 2][0] * lsqr + k[j + 2][1] * l + k[j + 2][2]) * (chassis->target_dist - chassis->dist) +
               (k[j + 3][0] * lsqr + k[j + 3][1] * l + k[j + 3][2]) * (chassis->target_v - chassis->vel) +
               (k[j + 4][0] * lsqr + k[j + 4][1] * l + k[j + 4][2]) * -chassis->pitch +
               (k[j + 5][0] * lsqr + k[j + 5][1] * l + k[j + 5][2]) * -chassis->pitch_w;
    }
    p->T_wheel = T[0];
    p->T_hip = T[1];
}