/*=========================================================================

   Library: iMSTK

   Copyright (c) Kitware, Inc. & Center for Modeling, Simulation,
   & Imaging in Medicine, Rensselaer Polytechnic Institute.

   Licensed under the Apache License, Version 2.0 (the "License");
   you may not use this file except in compliance with the License.
   You may obtain a copy of the License at

      http://www.apache.org/licenses/LICENSE-2.0.txt

   Unless required by applicable law or agreed to in writing, software
   distributed under the License is distributed on an "AS IS" BASIS,
   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   See the License for the specific language governing permissions and
   limitations under the License.

=========================================================================*/

#pragma once

#include <memory>
#include <stdio.h>

#include "imstkMath.h"
#include "imstkLinearProjectionConstraint.h"

namespace imstk
{
///
/// \class NonLinearSystem
///
/// \brief Base class for a multi-variable nonlinear system
///
class NonLinearSystem
{
public:
    using VectorFunctionType = std::function < const Vectord& (const Vectord&, const bool) >;
    using MatrixFunctionType = std::function < const SparseMatrixd& (const Vectord&) >;
    using UpdateFunctionType = std::function < void(const Vectord&, const bool) >;
    using UpdatePrevStateFunctionType = std::function <void()>;

public:
    ///
    /// \brief default Constructor/Destructor
    ///
    NonLinearSystem(){};
    NonLinearSystem(const VectorFunctionType& F, const MatrixFunctionType& dF);

    virtual ~NonLinearSystem(){};

    ///
    /// \brief Set nonlinear method that evaluates the nonlinear function.
    ///
    virtual void setFunction(const VectorFunctionType& function);

    ///
    /// \brief Set the method that evaluates the gradient of the nonlinear function
    ///
    virtual void setJacobian(const MatrixFunctionType& function);

    ///
    /// \brief Evaluate function at a given state
    ///
    virtual const Vectord& evaluateF(const Vectord& x, const bool isSemiImplicit);

    ///
    /// \brief Evaluate gradient of the function at a given state
    ///
    virtual const SparseMatrixd& evaluateJacobian(const Vectord& x);

    ///
    /// \brief
    ///
    void setUnknownVector(Vectord& v)
    {
        m_unknown = &v;
    }

    ///
    /// \brief Get the vector used to populate the solution
    ///
    Vectord& getUnknownVector()
    {
        return *m_unknown;
    }

    /// \brief Get the vector denoting the filter
    ///
    /*void setLinearProjectors(std::vector<LinearProjectionConstraint>& f)
    {
        m_LinearProjConstraints = &f;
    }

    /// \brief Get the vector denoting the filter
    ///
    std::vector<LinearProjectionConstraint>& getLinearProjectors()
    {
        return *m_LinearProjConstraints;
    }*/

    ///
    /// \brief Set the update function
    ///
    void setUpdateFunction(const UpdateFunctionType& updateFunc)
    {
        m_FUpdate = updateFunc;
    }

    ///
    /// \brief Set the update function
    ///
    void setUpdatePreviousStatesFunction(const UpdatePrevStateFunctionType& updateFunc)
    {
        m_FUpdatePrevState = updateFunc;
    }

    /// \brief Get the vector denoting the filter
    ///
    /*void setDynamicLinearProjectors(std::vector<LinearProjectionConstraint>* f)
    {
        m_DynamicLinearProjConstraints = f;
    }

    /// \brief Get the vector denoting the filter
    ///
    std::vector<LinearProjectionConstraint>& getDynamicLinearProjectors()
    {
        return *m_DynamicLinearProjConstraints;
    }*/

public:
    VectorFunctionType m_F;  ///> Nonlinear function
    MatrixFunctionType m_dF; ///> Gradient of the Nonlinear function with respect to the unknown vector
    Vectord *m_unknown;

    UpdateFunctionType m_FUpdate;
    UpdatePrevStateFunctionType m_FUpdatePrevState;
    /*std::vector<LinearProjectionConstraint>  *m_LinearProjConstraints;
    std::vector<LinearProjectionConstraint>  *m_DynamicLinearProjConstraints;*/
};
} // imstk

