#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] = {85.365277,-164.978797,-4.643325,
                    -7.817260,-26.353895,0.955791,
                    43.461413,-37.225135,-12.040913,
                    34.470271,-39.045724,-7.813613,
                    171.639863,-172.946723,59.632812,
                    11.281864,-11.926075,4.239721,
                    -19.517972,1.032904,27.896023,
                    -10.715152,11.663766,2.651705,
                    96.039929,-99.227575,36.121143,
                    56.371947,-60.347262,25.166639,
                    -213.707672,181.799382,93.194337,
                    -14.287060,12.217074,3.285836};
    float T[2] = {0};       // 0 T_wheel  1 T_hip
    float l = p->leg_len;
    float lsqr = l * l;

    // float dist_limit = abs(chassis->target_dist - chassis->dist) > MAX_DIST_TRACK ? sign(chassis->target_dist - chassis->dist) * MAX_DIST_TRACK : (chassis->target_dist - chassis->dist); // todo设置值
    // float vel_limit = abs(chassis->target_v - chassis->vel) > MAX_VEL_TRACK ? sign(chassis->target_v - chassis->vel) * MAX_VEL_TRACK : (chassis->target_v - chassis->vel);

    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];
}