%% R1000
N=length(robot.theta);
% Dynamics parameters
link_mass = robot.m;
com_pos = robot.com;
link_inertia = robot.I;

q_sym = sym('q%d',[N,1],'real');
qd_sym = zeros(N,1);%sym('qd%d',[N,1],'real');
q2d_sym = zeros(N,1);%sym('qdd%d',[N,1],'real');
thetalist = q_sym(1:N);
dthetalist = qd_sym(1:N);
ddthetalist = q2d_sym(1:N);

% Get general mass matrix
Glist=[];
for i = 1:N
    Gb= [link_inertia(:,:,i),zeros(3,3);zeros(3,3),link_mass(i)*diag([1,1,1])];
    Glist = cat(3, Glist, Gb);
end


Mlist_CG = robot.kine.Mlist_CG;
Mlist_ED = robot.kine.Mlist_ED;

%TODO: Get Slist form DH table method
% RRRRRRRRP
Slist=robot.slist;

Vlinear=sym(zeros(3,3));
J=sym(zeros(6,N));
exf=[0;0;0;0;0;0];

[V1,Vd1,Adgab_mat,Fmat,tau_mat] ...
    = InverseDynamics_sym(thetalist, dthetalist, ddthetalist, ...
    [0;0;-9.806], exf, Mlist_CG, Glist, Slist);
% G = FKinSpaceExpand_Sym(Mlist_CG, Slist, thetalist);
% T=FKinSpaceExpand_Sym(Mlist_ED, Slist, thetalist);
% F_Simpack = getSimpackF_Sym(G,T,Mlist_ED,Fmat);

%Gen Files
matlabFunction(tau_mat,'File',sprintf('autogen/standard_dynamics_%s',opt.robotName),...
    'Vars',{q_sym});
standard_dynamics_func = sprintf('standard_dynamics_%s',opt.robotName);
% traj
% time = 0:1:2;
% f=1;
% q_J = sin(2*pi*f*time);
% qd_J = (2*pi*f)*cos(2*pi*f*time);
% qdd_J = -(2*pi*f)^2*sin(2*pi*f*time);
% F_Simpack_list = feval(standard_dynamics_func, q_J',qd_J',qdd_J');


% Use Body Twist cal linear vel, but can't cal the end frame vel
% [V2] = InverseDynamics_sym(thetalist, dthetalist, ddthetalist, ...
%     [0;0;0], exf, Mlist, Glist, Slist);
% j=1;
% Vlinear(:, j+1) = BodyVelToLinearVel(V2(:,j+1),G(:,:,j)*M12);
% j=2;
% Vlinear(:, j+1) = BodyVelToLinearVel(V2(:,j+1),G(:,:,j)*M23);